CN210089996U - Compliant hinge flexibility and rotation precision measuring device based on micro-vision system - Google Patents
Compliant hinge flexibility and rotation precision measuring device based on micro-vision system Download PDFInfo
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- CN210089996U CN210089996U CN201920859470.1U CN201920859470U CN210089996U CN 210089996 U CN210089996 U CN 210089996U CN 201920859470 U CN201920859470 U CN 201920859470U CN 210089996 U CN210089996 U CN 210089996U
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Abstract
The utility model discloses a gentle and agreeable hinge compliance and rotation accuracy measuring device based on micro-vision system, include: a shock-isolating base; the bracket is fixed on the shock insulation base; the camera comprises a camera motor and a lens, wherein the lens is vertically fixed on a bracket downwards; the X-Y two-dimensional moving platform is fixed on the shock insulation base and is positioned below the camera motor and the lens; the three fixed pulley devices are fixed at the edge of the shock insulation base, two fixed pulley devices are oppositely and fixedly arranged at the edge of the shock insulation base along the Y direction, and the other fixed pulley device is fixedly arranged at the edge of the shock insulation base along the X direction; and the weights are connected with the to-be-measured flexible hinge fixed on the X-Y two-dimensional moving platform through ropes crossing the corresponding fixed pulley devices. The utility model discloses a little vision system carries out real-time measurement, obtains multiunit experimental data through the stress point and the load size that change the hinge to the displacement of hinge around applying the load, and simple installation, easy operation, repeatability are high.
Description
Technical Field
The utility model belongs to gentle and agreeable mechanism field relates to a gentle and agreeable hinge compliance and rotation accuracy measuring device based on micro vision system.
Background
The precision positioning technology is widely applied to many fields of high-end equipment manufacturing (such as photoetching machines, scanning electron microscopes and the like), aerospace, micro-nano operation, surgical medicine and the like, and is always a hot point of research at home and abroad. The traditional rigid mechanism has the problems of assembly clearance, friction lubrication and the like, so that high-precision positioning operation is difficult to realize, and the flexible mechanism has the advantages of high precision, high rigidity, compact structure and the like, so that the requirement of precision positioning can be well met. The compliance mechanism can be divided into two main types of a concentrated compliance type and a distributed compliance type according to the difference of compliance distribution, the compliance of the concentrated compliance type compliance mechanism is concentrated at a compliance hinge, the hinge bears the main deformation of the mechanism, and three main factors for judging the performance of the compliance hinge are as follows: compliance, rotational accuracy and maximum stress. Greater compliance indicates greater displacement of the hinge under the same load, while greater rotational accuracy indicates better performance of the hinge, closer to the ideal hinge.
The mathematical representation of compliance with respect to the compliant hinge is represented by the following equation:
mz, Fy, Fx represents the load applied to the free end of the hinge, αZΔ y, Δ x represent the amount of displacement of the free end of the hinge under load, and the two ends are connected by a 3 × 3 compliance matrix, which is proposed by the multi-notch hinge (design analysis of a multi-notched flexible hinge for composite mechanisms)For example, the letter meanings in the above formula are shown in FIG. 2.
The mathematical representation of the compliant hinge rotation is represented by the following equation:
mz, Fy and Fx represent loads applied to the free ends of the hinges, deltay and deltax represent parasitic displacements generated at the centers of the hinges, the middles of the parasitic displacements are connected through a 3 x 3 rotation precision matrix, under the same load, the smaller the parasitic displacement is, the better the hinge performance is, and the letter meaning in the formula is shown in figure 2.
SUMMERY OF THE UTILITY MODEL
The measurement demand to above-mentioned hinge compliance and rotation accuracy that mentions, the utility model designs a can measure hinge compliance and rotation accuracy's measuring device under the different load condition. The measuring device is simple in structure and easy to build, and displacement changes of the hinge before and after load is applied can be obtained through data measured by micro vision.
The utility model provides a technical scheme that its technical problem adopted as follows:
a compliant hinge compliance and rotation accuracy measuring device based on a micro vision system, comprising:
a shock-isolating base;
the bracket is fixed on the shock insulation base;
the camera motor and the lens are vertically fixed on the bracket in a downward mode;
the X-Y two-dimensional moving platform is fixed on the shock insulation base and is positioned below the camera motor and the lens;
the three fixed pulley devices are fixed at the edge of the shock insulation base, two fixed pulley devices are oppositely and fixedly arranged at the edge of the shock insulation base along the Y direction, and the other fixed pulley device is fixedly arranged at the edge of the shock insulation base along the X direction;
and the weights are connected with the to-be-measured flexible hinge fixed on the X-Y two-dimensional moving platform through ropes crossing the corresponding fixed pulley devices.
Furthermore, the camera motor and the lens are fixed on the beam of the bracket through two symmetrically arranged camera adapter plates.
Furthermore, the fixed pulley device comprises a support fixed on the shock insulation base and a roller rotatably arranged on the support.
Furthermore, a plurality of annular grooves are formed in the circumferential surface of the roller at intervals along the length direction, and a plurality of groups of experimental data are obtained through matching of the rope and different annular grooves.
Furthermore, the X-Y two-dimensional moving platform comprises a rectangular moving platform for mounting the flexible hinge, micrometer screw heads respectively fixedly arranged on two sides of the rectangular moving platform in the X direction and the Y direction, and two fixed blocks fixed on the shock insulation base and respectively acting with the micrometer screw heads.
Further, the support is formed by assembling aluminum alloy and comprises two stand columns and a cross beam which is connected and arranged between the top ends of the two stand columns.
Furthermore, the shock insulation base adopts a marble base or a metal base.
Further, the to-be-tested compliant hinge comprises a multi-notch compliant hinge, a straight circular hinge, an angular circular hinge and a V-shaped hinge.
Furthermore, a plurality of screw holes for fixing the fixing end of the flexible hinge to be detected through bolts are uniformly formed in the rectangular mobile platform.
Compared with the prior art, the beneficial effects of the utility model include:
the utility model can provide loads with different sizes and directions for the hinge through simpler assembly and replacement, and different load conditions can be conveniently obtained by changing the stress point of the hinge, thereby being convenient for obtaining multiple groups of experimental data; the micro-vision system is adopted to measure the displacement of the hinge before and after the load is applied, the flexibility and the rotation precision of the hinge can be calculated according to the displacement result obtained by measurement and the load applied to the hinge, and the hinge is simple and convenient to install, simple to operate and high in repeatability.
Drawings
Fig. 1 is a schematic view of the overall structure of the measuring device according to the embodiment of the present invention.
FIG. 2 is a schematic diagram of the measurement of the compliance and rotation accuracy of the compliant hinge.
FIG. 3 is a schematic diagram of a micro-vision measurement, wherein FIG. 3(a) is a coordinate position of a landmark point before a compliant hinge is loaded; FIG. 3(b) is a coordinate position of a landmark point after a load is applied to the compliant hinge;
fig. 4 is a three-dimensional view of a multi-notch hinge.
Fig. 5(a) to 5(c) are schematic views of different directional load application of the compliant hinge.
In the figure: the system comprises a camera 1, a camera motor and a camera lens, a 2-X-Y two-dimensional moving platform, a 3-weight, a 4-multi-notch hinge, a 5-shock insulation base, a 6-roller, a 7-bracket, an 8-camera adapter plate, a 9-first adapter, a 10-second adapter and a 11-third adapter.
Detailed Description
The objects of the invention will be described in further detail with reference to the following embodiments, wherein like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1, a compliant hinge compliance measurement device based on micro-vision, comprising:
the shock insulation base adopts a marble base or a metal base;
the support is fixed on the shock insulation base, is assembled by aluminum alloy, and comprises two stand columns and a cross beam connected and arranged between the top ends of the two stand columns;
the camera motor and the lens 1 are fixed on the beam of the bracket 7 through two symmetrically arranged camera adapter plates 8, and the lens is vertically downward;
the X-Y two-dimensional moving platform is fixed on the shock insulation base and is positioned below the camera motor and the lens;
the three fixed pulley devices are fixed at the edge of the shock insulation base, two fixed pulley devices are oppositely and fixedly arranged at the edge of the shock insulation base along the Y direction, and the other fixed pulley device is fixedly arranged at the edge of the shock insulation base along the X direction;
and the weights are connected with the to-be-measured flexible hinge fixed on the X-Y two-dimensional moving platform through ropes crossing the corresponding fixed pulley devices.
The fixed pulley device comprises a support fixed on the shock insulation base and an idler wheel 6 rotatably arranged on the support, and a plurality of annular grooves are formed in the circumferential surface of the idler wheel 6 at intervals along the length direction.
The X-Y two-dimensional moving platform comprises a rectangular moving platform for mounting the flexible hinge to be tested, spiral micrometer heads fixedly arranged on two sides of the rectangular moving platform in the X direction and the Y direction respectively, and two fixed blocks fixed on the shock insulation base and respectively acting with the two spiral micrometer heads, wherein a plurality of screw holes for fixing the fixed end of the flexible hinge to be tested through bolts are uniformly formed in the rectangular moving platform.
Of course, those skilled in the art may also use other types of X-Y two-dimensional moving platforms to perform similar planar motion as required, such as ball screw pairs, and so on, which are not described herein again.
It should be clear that the compliant hinge to be measured in the above embodiment is a multi-notch compliant hinge, but the measurement apparatus provided in the above embodiment is also applicable to measurement of the compliance and rotation accuracy of other types of compliant hinges, including a straight circular hinge, an angular circular hinge, a V-shaped hinge, and the like.
The camera motor and the lens 1 are connected with an upper computer (PC) and used for measuring displacement of a certain position of the upper surface of the hinge, the three-dimensional result of the multi-notch flexible hinge 4 is shown in figure 4, three faces of the multi-notch flexible hinge 4 are connected with three adapters through bolts, and the three adapters are used for applying loads, such as a first adapter 9, a second adapter 10 and a third adapter 11. The X-Y two-dimensional moving platform 2 is used for moving the position of the hinge, so that the camera can measure the displacement change conditions of different positions of the hinge. For example, when the flexibility of the hinge is measured, the free end of the hinge is moved to the position right below the camera, so that the displacement change of the hinge under the action of external force can be measured, and the flexibility of the hinge can be calculated according to the load and the measured displacement value; when the rotation precision of the hinge is measured, the center of the hinge is moved to the position right below the camera, and the parasitic displacement generated by the center of the hinge under the action of external force is measured, so that the rotation precision of the hinge is calculated. The weight is used to apply a load to the hinge, three cases of which are shown in fig. 5(a) to 5 (c). The main effect of gyro wheel is that the rope does not receive external friction as far as possible when providing tensile for the hinge to guarantee the precision of experiment. The base, the aluminum section bar support and the camera adapter plate play roles in isolating vibration and fixing the camera.
In the measuring process, in order to obtain the displacement condition under the condition of more loads, the calculation result is more accurate and reliable, different loads can be obtained by replacing the stress position of the hinge or replacing the weights 3 with different weights, and the measuring device is very simple and convenient. When the compliance experiment is performed, the position observed by the camera is the point O in fig. 2 (for measuring compliance), and when the rotation accuracy experiment is performed, the position observed by the camera is the point O' in fig. 2 (for measuring rotation accuracy).
Specific principles of camera micro-vision measurement are shown in fig. 3(a) and 3(b):
the measuring device adopts a micro-vision measuring mode to measure the displacement of the hinge, because the displacement generated by the flexible hinge is very small and is micrometer-level, a camera is required to be adopted to amplify an observation area to obtain the movement of a characteristic point, the principle of the micro-vision measuring is shown in figures 3(a) and 3(b), the camera can acquire photos of the surface of the hinge, then two characteristic areas in the image are selected, and the central coordinates of the two characteristic areas are respectively P1(x1,y1) And P2(x2,y2) When the hinge applies a load, the selected characteristic region in the image can be displaced, and the changed coordinate is P1’(x1’,y1') and P2’(x2’,y2') the displacement of the hinge end under load can be calculated from the difference between the front and rear coordinates [ α ]zΔy Δx]And parasitic displacement [0 δ y δ x ] generated at hinge center]Therefore, the flexibility and the rotation precision of the hinge can be calculated.
The multi-notch hinge 4 selected in this embodiment is a hinge proposed by the thesis Design and analysis of a multi-notched flexible hinge for compliant hinges, in which only theoretical modeling and simulation analysis are performed on the hinge and experimental analysis is lacked, so the testing device selects the multi-notch hinge as a research object, but the measuring device is also applicable to other types of compliant hinges.
The operation process of the measuring device provided by the above embodiment includes:
firstly, a position to be measured (point O or point O' in fig. 2) of a multi-notch hinge 4 to be measured is moved to a position right below a camera through an X-Y two-dimensional moving platform 2, the height of the camera is adjusted to focus, an observed image is clear, and then the camera is fixed.
And then, the rope with the weight 3 is attached to a hole of the hinge adapter, the rope crosses over the pulley 6, the weight 3 is firstly dragged, an image acquisition program is executed in an upper computer, a mark point with obvious characteristics is selected by finely adjusting the X-Y two-dimensional moving platform 2 and is framed, image tracking is started, the weight 3 is slowly released at the moment, the image acquisition program is closed after the rope is completely stretched, then the image acquisition result is processed, and the flexibility and the rotation precision of the hinge are calculated according to the size of the applied load and the corresponding displacement value.
The sequence of measurements can be performed in the order shown in fig. 5(a) to 5(C), generally by first applying a force Fx in a horizontal direction (along the x-direction) and then measuring the corresponding displacement, and from these two values, C in the compliance matrix can be measured33Then, force Fy is applied in the vertical direction (along the y direction), the corresponding displacement is measured, and C in the compliance matrix can be measured according to the two values22Finally, the compliance C is measured by the pure moment load and the corresponding displacement11. In the compliance matrix, C12And C21Are equal and they are only detected by the combined action of Fy and the pure torque load Mz.
The measurement of the rotational accuracy, at which the measurement position of the camera is located at the rotation center of the hinge, substantially coincides with the measurement method of the compliance.
The specification of weight 3 and the position of hinge stress point in the above-mentioned embodiment can carry out diversified selection to satisfy the experimental measurement under the different external load condition, be convenient for obtain the multiunit experiment number. The utility model discloses well load application mainly realizes through the gravity of weight, and is economical simple, and other similar methods of applying load also can be used in this measuring device. Compared with the measurement by a capacitance sensor or other contact sensors, the micro-vision measurement mode has the advantages of simple and convenient installation, simple operation and the like.
The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A compliant hinge compliance and rotation accuracy measuring device based on a micro vision system, comprising:
a shock-isolating base;
the bracket is fixed on the shock insulation base;
the camera motor and the lens are vertically fixed on the bracket in a downward mode;
the X-Y two-dimensional moving platform is fixed on the shock insulation base and is positioned below the camera motor and the lens;
the three fixed pulley devices are fixed at the edge of the shock insulation base, two fixed pulley devices are oppositely and fixedly arranged at the edge of the shock insulation base along the Y direction, and the other fixed pulley device is fixedly arranged at the edge of the shock insulation base along the X direction;
and the weights are connected with the to-be-measured flexible hinge fixed on the X-Y two-dimensional moving platform through ropes crossing the corresponding fixed pulley devices.
2. The device of claim 1, wherein the camera motor and lens are fixed to the beam of the frame by a symmetrically disposed two-camera adapter plate.
3. The device for measuring the flexibility and the rotation precision of the compliant hinge based on the micro-vision system as claimed in claim 1, wherein the fixed pulley device comprises a support fixed on the vibration isolation base and a roller rotatably arranged on the support.
4. The device for measuring flexibility and rotation precision of a compliant hinge based on a micro-vision system as claimed in claim 3, wherein the circumferential surface of the roller is provided with a plurality of annular grooves at intervals along the length direction.
5. The device for measuring the flexibility and the rotation precision of the compliant hinge based on the micro-vision system as claimed in claim 1, wherein the X-Y two-dimensional moving platform comprises a rectangular moving platform for mounting the compliant hinge, spiral micrometer heads fixedly arranged on both sides of the rectangular moving platform in the X and Y directions, and two fixed blocks fixed on the vibration isolation base and respectively interacting with the two spiral micrometer heads.
6. The device for measuring the flexibility and the rotation precision of the compliant hinge based on the micro-vision system as claimed in claim 1, wherein the bracket is assembled by aluminum alloy and comprises two columns and a beam connected and arranged between the top ends of the two columns.
7. The micro-vision system based compliant hinge compliance and rotation accuracy measuring device of claim 1, wherein said vibration isolation mount is a marble mount or a metal mount.
8. The micro-vision system-based compliant hinge compliance and rotation accuracy measurement device of claim 1, wherein the compliant hinge to be tested comprises a multi-gap compliant hinge, a right circular hinge, an angular circular hinge, and a V-shaped hinge.
9. The device for measuring the flexibility and the rotation precision of the compliant hinge based on the micro-vision system as claimed in claim 5, wherein the rectangular mobile platform is uniformly provided with a plurality of screw holes for fixing the fixing end of the compliant hinge to be measured by bolts.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261081A (en) * | 2019-06-06 | 2019-09-20 | 华南理工大学 | A kind of submissive hinge flexibility and running accuracy measuring device based on micro- vision system |
| CN112815892A (en) * | 2021-02-05 | 2021-05-18 | 西安工程大学 | Novel split self-locking type movable sliding frame applied to three-coordinate measuring machine |
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2019
- 2019-06-06 CN CN201920859470.1U patent/CN210089996U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261081A (en) * | 2019-06-06 | 2019-09-20 | 华南理工大学 | A kind of submissive hinge flexibility and running accuracy measuring device based on micro- vision system |
| CN110261081B (en) * | 2019-06-06 | 2024-08-13 | 华南理工大学 | Flexible hinge flexibility and rotation precision measuring device based on micro-vision system |
| CN112815892A (en) * | 2021-02-05 | 2021-05-18 | 西安工程大学 | Novel split self-locking type movable sliding frame applied to three-coordinate measuring machine |
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