CN206235453U - The measurement apparatus of the flexible doublejointed mechanical arm vibration based on machine vision - Google Patents
The measurement apparatus of the flexible doublejointed mechanical arm vibration based on machine vision Download PDFInfo
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- CN206235453U CN206235453U CN201621060386.6U CN201621060386U CN206235453U CN 206235453 U CN206235453 U CN 206235453U CN 201621060386 U CN201621060386 U CN 201621060386U CN 206235453 U CN206235453 U CN 206235453U
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Abstract
The utility model discloses a kind of measurement apparatus of the flexible doublejointed mechanical arm vibration based on machine vision.The device includes doublejointed flexible mechanical arm, CCD camera, camera fixing device, absolute value encoder, multiple LEDs and PC.Absolute value encoder is installed on rotary electric machine, and LED is placed on two armed lever tail ends, and CCD camera is placed at middle joint, and the output port of CCD camera and encoder is connected with PC.Camera fixing device makes camera lens direction be in the angular bisector direction of the angle that two-arm bar is formed, and each two field picture and the real time positioning data of encoder of CCD camera detection are sent to PC；Processed through PC, with this movement position it is static when facula position compared with, obtain the vibration displacement of light source, and then analyze mechanical arm vibration performance.The utility model can not contact, do not measure two-arm vibration of bar feature with not changing measured object vibration characteristics, conveniently compare with research, can be widely used.
Description
Technical field：
The utility model is related to the measurement apparatus of flexible doublejointed mechanical arm vibration, particularly a kind of based on machine vision
The measurement apparatus of flexible doublejointed mechanical arm vibration.
Background technology：
Multi-joint mechanical arm, also referred to as articulated robot be most common industrial robot in current industrial circle form it
One.Be suitable for the mechanical automation operation of many industrial circles, such as, and the work such as automatic assembling, spray painting, carrying, welding.This
The modal damping of class flexible structure is small, once being acted on by certain exciting force, it is significantly vibrated last very long.
This can not only influence the work of structure, structure is produced too early fatigue rupture, influence the service life of structure, or cause
The damage of structure Instrumental.Therefore need measurement and suppress the vibration of such flexible structure.
In the prior art, the vibration measurement of flexible joint mechanical arm mainly has using piezoelectric patches, acceierometer sensor, angle
Rate gyroscope sensor, photoelectrical position sensor (Position Sensitive Detector) and fiber-optic grating sensor
Methods such as (Fiber Grating Sensor)：Because various links such as signal amplification, filtering can cause signal when piezoelectric patches is measured
Postpone and delayed phase, measuring speed is slow, be limited in scope；Acceierometer sensor and angular rate gyroscope sensor are quick to noise
Sense, there are problems that sluggish and influences its precision；The measurement range of photoelectrical position sensor is smaller, complex structure, operation
Difficulty is big, calculating process is cumbersome and costly；The topmost problem of fiber-optic grating sensor is the demodulation of transducing signal, due to
Fiber grating is more fragile, and destruction is very easy in harsh environments, so that could be used after being packaged to it,
Packaging technology and safeguard measure complex structure.
The content of the invention：
The purpose of this utility model is to provide a kind of simple structure, stable performance, be convenient for measuring based on machine vision
The measurement apparatus of flexible doublejointed mechanical arm vibration, realize noncontact, in real time accurate one-shot measurement while obtaining machinery at two
The vibration performance of arm.
The technical solution for realizing the utility model purpose is, a kind of flexible doublejointed mechanical arm based on machine vision
The measurement apparatus of vibration, the device include doublejointed flexible mechanical arm, CCD camera, camera fixing device, absolute value encoder,
Multiple LEDs and PC, install absolute value encoder on diarticular armed lever rotary electric machine, and the output end of encoder with
PC is connected, and LED is placed on two armed lever tail ends, and CCD cameras are placed on the joint between two mechanical arm armed levers, and CCD
The output port that camera configuration has camera lens, CCD camera is connected with PC.Camera fixing device ensured at the camera lens direction moment
At the angular bisector of the angle formed in two-arm bar, CCD camera can simultaneously measure the every of two armed lever tail end LEDs vibration
One two field picture, and it is sent to PC；The real time data of encoder reaches PC and carries out computing positioning mechanical arm movement position；
PC processes image, vibration displacement when static compared with facula position at acquisition LED and reflection with this movement position
The parameter of flexible doublejointed mechanical arm structural low-frequency vibration.
The utility model compared with the prior art, with following remarkable advantage：(1) detection method based on machine vision is not
Low-frequency vibration information that is only more directly perceived, more easily obtaining flexible mechanical arm, and whole device is by the inspection to LED
Survey simple to operate, easy to implement, measurement noise small.(2) using absolute value encoder positioning mechanical arm position, noiseproof feature
By force, the reliability of data is high.(3) for the special construction of mechanical arm, being placed in joint can change nyctitropic CCD phases with motion
Machine, can be detected simultaneously by two LED light sources of two mechanical arm armed lever tail ends, greatly simplify apparatus structure, save into
This.(4) in the case of the vibration performance for not changing measured object, light source is tracked by machine vision, detects the dynamic of flexible structure
State displacement, has the advantages that noncontact, measurement range are wide, do not change the vibration characteristics of measured object.
Brief description of the drawings：
Fig. 1 is the structural representation of the measurement apparatus of the flexible doublejointed mechanical arm vibration that the utility model is based on machine vision
Figure；
Fig. 2 is camera fixing device simplified schematic diagram；
Fig. 3 is graphical analysis sketch；
Specific embodiment：
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
The utility model is using the method for machine vision by gathering the mechanical arm tail end illuminating source of different motion position
Vibration displacement realize low frequency modal analysis device.
As shown in figure 1, the measurement apparatus of the flexible doublejointed mechanical arm vibration based on machine vision include that doublejointed is flexible
Mechanical arm 1, CCD camera 2, camera fixing device 3, absolute value encoder 4, multiple LEDs 5 and PC 6；Described flexibility
The output end and PC 6 of doublejointed mechanical arm 1, installation absolute value encoder 4 on diarticular armed lever rotary electric machine, and encoder
Connection, LED 5 is placed on 1 liang of armed lever tail end of doublejointed flexible mechanical arm, between CCD camera 2 is placed in two mechanical arm armed levers
Joint on, and CCD camera is configured with camera lens, and the output port of CCD camera 2 is connected with PC 6.As shown in Fig. 2 the camera
Fixing device, a diamond structure is formed with doublejointed flexible mechanical arm two-arm bar, and diagonal is using retractable material as CCD
Camera support, support can change direction according to manipulator motion position, and CCD camera is in cornerwise support of diamond structure
On, it is ensured that the CCD camera lens direction moment is in the angular bisector direction of the angle that two-arm bar is formed.
The measuring method of the flexible doublejointed mechanical arm vibration based on machine vision, step is as follows：
1st step：The position of LED 5 in the image of each frame gathered according to CCD camera 2, entire image is divided into
The corresponding subregion of two armed lever tail end LED 5, and determine the upper corresponding light source collection position in each region；
2nd step：According to the camera image data of incoming PC 6, the barycenter of each light source hot spot in image coordinate system is determined
Position；
3rd step：According to the gathered data of absolute value encoder 4, positioning mechanical arm movement angle, the barycenter that the 2nd step is gathered
Correspondence movement angle data record this moment in position is in PC 6；
As shown in figure 3, when motor rotates the work of driving mechanical arm, the record of absolute value encoder 4 rotational angle, obtains in motor
Rotational angle to armed lever 1 is α, and for 180 ° of-β, (direction is initial level direction and counterclockwise rotation to the rotational angle of armed lever 2
Turn), the slewing area of α, β is 0 ° of ＜ α ＞, 90 °, 0 ° 90 ° of ＜ β ＞, and two armed levers during for (α, β) are in image coordinate system
Projected position is：
Y in formula1 (α, β), Y2 (α, β)The respectively y-axis coordinate position of armed lever 1 and armed lever 2 in (α, β) location drawing picture coordinate system
Put, l1,l2To be arranged on the distance of 1 liang of LED of armed lever tail end 5 of doublejointed flexible mechanical arm to the camera lens of CCD camera 2.
X-axis direction non-displacement when static, so when obtaining static without friction and mechanical arm in (α, β) position, armed lever 1,
Light source coordinate in the image coordinate system of CCD camera 2 is on armed lever 2：
4th step：According to the facula mass center position gathered under the conditions of different vibration measurings, with the now machine of doublejointed flexible mechanical arm 1
Static facula mass center position under tool arm movement position is processed, and obtains two horizontal displacement Δ x of correspondence LED 5
With vertical displacement delta y, comprise the following steps that：
According to the 1st step, the 2nd step detecting step and Fig. 3, under (α, β) position, this two field picture of CCD camera record
Through computing obtain armed lever 1 on image coordinate system, on armed lever 2 light source centroid position：
(X1,Y1)′(α,β)=(x1,y1), (X2,Y2)′(α,β)=(x2,y2) (3)
And then obtain the displacement in two armed lever glazing sources in image coordinate system：
Δ x in formula1,Δy1, Δ x2,Δy2Horizontal displacement and vertical displacement in respectively two armed lever image coordinate systems.
5th step：According to the parameter of CCD camera 2, world coordinate system is tied to from image coordinate to two LEDs 5 vertical
Shift transformation factor Kx, horizontal transformation factor KyDemarcated, comprised the following steps that：
Set up coordinate system：By taking the armed lever of the top of flexible doublejointed mechanical arm 1 as an example, with armed lever tail end LED 5
Placement location OWIt is origin, the direction that camera 2 is pointed to when armed lever is static is Z axis, sets up world coordinate system OW-WWXWYWZW；With CCD
The photocentre O of camera 2CIt is origin.The angle bisection of the angle that camera lens direction, i.e. the two-arm bar of doublejointed flexible mechanical arm 1 are formed
Image coordinate system O is set up in line direction for Z axisC-WCXCYCZC；
Image coordinate system OC-WCXCYCZCIn horizontal displacement, vertical displacement to world coordinate system OW-WWXWYWZWConversion
Relation is：
X=KxΔ x, y=KyΔy (6)
Wherein Δ x, Δ y are the horizontal displacement and vertical displacement in image coordinate system, and x, y are reality in world coordinate system
Horizontal displacement and vertical displacement, Kx KyHorizontal displacement transformation factor and the vertical displacement change of world coordinate system are tied to for image coordinate
Change the factor.
6th step：What horizontal displacement Δ x, vertical displacement delta y and the 5th step according to each LED 5 in image were demarcated
Horizontal transformation factor Kx, vertical transitions factor Ky, the real standard displacement x of each LED, actual vertical displacement y are obtained,
Comprise the following steps that：
Composite type (4), formula (5) and formula (7) are obtained：
The real standard displacement and actual vertical displacement of light source are on armed lever 1：
x1=KxΔx1=x1 (8)
The real standard displacement and actual vertical displacement of light source are on armed lever 2：
x2=KxΔx2=x2 (10)
7th step：According to the actual displacement that the 6th step is obtained, the position curve of each LED 5 is drawn out, to each
The displacement of LED 5 carries out Fast Fourier Transform (FFT), obtain the vibration of flexible doublejointed mechanical arm 1 first-order modal frequency and
Second-order modal frequency.Comprise the following steps that：
Repeatedly measurement diverse location is (α1, β1)、(α2, β2) ... the armed lever tail end light source displacements of location point are waited, it is entered
Row Fast Fourier Transform (FFT), obtains the first-order modal frequency and second-order modal frequency of flexible doublejointed 1 liang of armed lever of mechanical arm.
In sum, the utility model proposes method constructed by machine vision vibration measurement device, can be for double
Articulated mechanical arm special construction, is positioned using absolute value encoder, is realized and is vibrated at a CCD camera measurement two.The method
With noncontact, the vibration characteristics that does not change measured object, many advantages, such as device is simple, the degree of accuracy is high.
Claims (2)
1. a kind of measurement apparatus of the flexible doublejointed mechanical arm vibration based on machine vision, including doublejointed flexible mechanical arm
(1), it is characterised in that：The device also includes CCD camera (2), camera fixing device (3), absolute value encoder (4), multiple LED
Luminous tube (5) and PC (6), the flexible doublejointed mechanical arm (1), two armed lever tail ends set LED (5), joint
Camera fixing device (3) is placed, CCD camera (2) is fixed on device and is configured with camera lens, two joint sets absolute value encoder
(4), CCD camera (2) is connected with the output port of absolute value encoder (4) with PC (6).
2. the measurement apparatus that the flexible doublejointed mechanical arm based on machine vision according to claim 1 vibrates, its feature
It is：The camera fixing device (3), a diamond structure is formed with doublejointed flexible mechanical arm (1) two-arm bar, and diagonal is used
Retractable material can change direction as CCD camera (2) support, support according to manipulator motion position, and CCD camera (2) is in
On cornerwise support of diamond structure, it is ensured that put down at the angle that CCD camera (2) the lens direction moment is in the angle that two-arm bar is formed
Separated time direction.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153331A (en) * | 2016-09-18 | 2016-11-23 | 安徽理工大学 | The measurement apparatus vibrated based on the flexible doublejointed mechanical arm of machine vision and method |
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2016
- 2016-09-18 CN CN201621060386.6U patent/CN206235453U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153331A (en) * | 2016-09-18 | 2016-11-23 | 安徽理工大学 | The measurement apparatus vibrated based on the flexible doublejointed mechanical arm of machine vision and method |
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Granted publication date: 20170609 Effective date of abandoning: 20190205 |
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| AV01 | Patent right actively abandoned |