Test system, device and method for testing the bending effect of rope

Abstract

The test system, device and method for testing the bending effect of ropes include: a test device for testing the bending effect of ropes, which serves as a supporting mechanism for the bending rope to be tested and realizes the release of the bending rope under the control of a data processing unit; a camera unit, which shoots the entire release process of the bending rope under the control of the data processing unit and transmits the captured image data to the data processing unit; the data processing unit is used to control the test device for testing the bending effect of ropes and the camera unit, receive image data from the camera unit, obtain the spatial motion trajectory of the bending rope in the image data, and compare the spatial motion trajectory of the bending rope in the acquired image data with the spatial motion trajectory of the bending rope obtained by the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model. The present invention lays a foundation for the subsequent analysis of the pull-out and unfolding characteristics of the rope net for long-term folding and sealing.

Description

Technical Field

[0001] The invention relates to the technical field of rope bending characteristic detection, and in particular to a test system, a device and a method for testing rope bending effect. Background Art

[0002] The main function of the space rope net is to wrap and accommodate space targets. In practical applications, the space rope net is compressed in the net bag for a long time, and the curved part of the reinforcing rope will have a certain degree of anti-deformation ability. This phenomenon may cause some indicators in the process of rope net deployment to change (such as the relative time and relative flight distance of the mass block when it is expanded from compression to the maximum rope net area).

[0003] In order to analyze the influence of rope bending on the deployment performance of rope nets and to understand the bending performance of ropes in space rope nets, it is necessary for researchers to design a test system to test the rope bending effect and to conduct rope bending characteristic tests on bent ropes.

[0004] In addition, in order to analyze the impact of rope bending on the deployment performance of the rope net, researchers have continuously designed and established various rope dynamics models, so as to obtain the simulation effect diagram of the spatial motion trajectory of the bent rope through simulation, and then master the bending performance of the rope in the space rope net, and predict the impact of long-term storage compression on the deployment characteristics of the rope net. However, the reliability of the simulation results of different rope dynamics models needs to be verified through experiments, so it is also necessary to conduct rope bending characteristics tests on bent ropes to verify the reliability of different rope dynamics models. Summary of the invention

[0005] In order to conduct a rope bending characteristic test on a bending rope so as to predict the influence of long-term storage compression on the rope net deployment characteristics, the present invention proposes a test system, device and method for testing the rope bending effect, laying a foundation for the subsequent analysis of the pull-out and deployment characteristics of the rope net that has been folded and stored for a long time.

[0006] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are as follows:

[0007] Test system for testing the effects of rope bending, including:

[0008] A test device for testing the bending effect of a rope, serving as a support mechanism for the bending rope to be tested, and realizing the release of the bending rope under the control of a data processing unit;

[0009] A camera unit, which, under the control of the data processing unit, films the entire release process of the bent rope and transmits the captured image data to the data processing unit;

[0010] The data processing unit is used to control the test device and the camera unit for testing the bending effect of the rope, receive the image data from the camera unit, and obtain the spatial motion trajectory of the bent rope in the image data.

[0011] Furthermore, the data processing unit of the present invention also includes a rope dynamics simulation model, which compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope simulated by the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

[0012] Furthermore, the two ends of the bending rope to be tested are connected with mass blocks, and the bending rope to be tested is bent and folded together in a Z shape. The test device for testing the bending effect of the rope according to the present invention comprises a support frame and a rope fixing and releasing mechanism, and the rope fixing and releasing mechanism is arranged on the support frame. The rope fixing and releasing mechanism comprises a fixed spring clamp, a left ejection mechanism and a right ejection mechanism, and the fixed spring clamp is used to clamp the bending rope to be tested, and the fixed spring clamp is connected to the 1# motor, and its opening and closing is controlled by the 1# motor; the mass blocks connected to the two ends of the bending rope to be tested are placed on the left ejection mechanism and the right ejection mechanism, and the left ejection mechanism and the right ejection mechanism are respectively controlled by the 2# motor and the 3# motor, and are used to eject the corresponding mass blocks. Furthermore, a fixed spring clip is arranged on the middle mounting plate, a left mechanical arm and a right mechanical arm are arranged on both sides of the middle mounting plate, a left ejection mechanism and a right ejection mechanism are respectively fixed on the left mechanical arm and the right mechanical arm, the left and right mechanical arms are connected by multiple joints, the angles between adjacent joints are adjustable, and the left ejection mechanism and the right ejection mechanism are respectively arranged on the end joints of the left and right mechanical arms. Furthermore, the support frame includes a support base, a left support rod, a right support rod and a transverse support rod, the left support rod and the right support rod are fixed on the support base, a transverse support rod is fixed between the top ends of the left and right support rods, and a rope fixing and releasing mechanism is arranged in the middle of the transverse support rod.

[0013] Furthermore, the camera unit of the present invention is a high-speed camera. The high-speed camera is arranged in front of the test device for testing the bending effect of the rope. The image data captured by the high-speed camera is transmitted to the data processing unit, and the data processing unit uses the existing image processing technology to extract the spatial motion trajectory of the bent rope in the image data.

[0014] Furthermore, the camera unit of the present invention is two high-speed cameras, which are symmetrically arranged on both sides of the test device for testing the bending effect of the rope. The image data captured by the two high-speed cameras are transmitted to the data processing unit, and the data processing unit uses the existing image processing technology to fuse the images captured by the left and right cameras, and then extracts the spatial motion trajectory of the bent rope in the image data.

[0015] Furthermore, the data processing unit is connected to a synchronization trigger, and the data processing unit synchronously controls the motors and camera units corresponding to the left ejection mechanism, the right ejection mechanism and the fixed spring clip to achieve the synchronous launch of the two mass blocks and the synchronous release of the fixed spring clip. At the same time, the camera unit synchronously shoots the entire release process of the bent rope.

[0016] Based on the above test system for testing the bending effect of a rope, the present invention provides a test method for testing the bending effect of a rope, comprising:

[0017] The bending rope to be tested is placed on the rope fixing and releasing mechanism of the test device for testing the bending effect of the rope, wherein the mass blocks connected to the two ends of the bending rope to be tested are respectively fixed on the left ejection mechanism and the right ejection mechanism, and the bending rope to be tested is bent and folded in a Z shape and clamped by a fixed spring clip;

[0018] The data processing unit synchronously controls the left ejection mechanism, the right ejection mechanism, the fixed spring clip and the camera unit to achieve synchronous launching of the two mass blocks, synchronous release of the fixed spring clip and synchronous shooting of the high-speed camera in the camera unit;

[0019] The image data captured by the high-speed camera is transmitted to the data processing unit, and the data processing unit extracts the spatial motion trajectory of the bent rope from the image data.

[0020] Furthermore, the data processing unit compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope simulated by the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

[0021] The beneficial effects of the present invention are as follows:

[0022] The test device for testing the bending effect of ropes provided by the present invention can test the unfolding characteristics of the bending ropes. Based on the test system for testing the bending effect of ropes provided by the present invention, the spatial motion trajectory of the bending rope in the image data is obtained, and the spatial motion trajectory of the bending rope in the image data is further compared with the spatial motion trajectory of the bending rope obtained by the rope dynamics simulation model, so as to verify the reliability of the rope dynamics simulation model, and lay a foundation for the subsequent analysis of the pull-out and unfolding characteristics of the rope net folded and sealed for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 It is a schematic structural diagram of a test device for testing the bending effect of a rope according to the present invention.

[0025] Figure 2 The structure diagram of the rope fixing and releasing mechanism of the present invention is shown in FIG. Figure 1 .

[0026] Figure 3 The structure diagram of the rope fixing and releasing mechanism of the present invention is shown in FIG. Figure 2 .

[0027] Numbers in the figure:

[0028] 1. Support frame; 101. Fixed spring clip; 102. Left ejection mechanism; 103. Right ejection mechanism; 104. 1# motor; 105. 2# motor; 106. 3# motor; 107. Middle mounting plate; 108. Left robotic arm; 109. Right robotic arm; 110. Support base; 111. Left support rod; 112. Right support rod; 113. Horizontal support rod. DETAILED DESCRIPTION

[0029] In order to make the technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] Embodiment 1:

[0031] Reference Figures 1 to 3 This embodiment provides a test device for testing the bending effect of a rope. The test device for testing the bending effect of a rope of the present invention comprises a support frame 1 and a rope fixing and releasing mechanism, wherein the rope fixing and releasing mechanism is arranged on the support frame 1.

[0032] The rope fixing and releasing mechanism includes a fixed spring clamp 101, a left ejection mechanism 102 and a right ejection mechanism 103. Mass blocks are connected to both ends of the curved rope to be detected, and the curved rope to be detected is bent and folded together in a Z shape. The fixed spring clamp 101 is used to clamp the curved rope to be detected, and the fixed spring clamp 101 is connected to the 1# motor 104, and its opening and closing is controlled by the 1# motor 104. The mass blocks connected to both ends of the curved rope to be detected are placed on the left ejection mechanism 102 and the right ejection mechanism 103, and the left ejection mechanism 102 and the right ejection mechanism 103 are respectively controlled by the 2# motor 105 and the 3# motor 106, and are used to eject the corresponding mass blocks.

[0033] Furthermore, the fixed spring clip 101 is arranged on the middle mounting plate 107, and the left mechanical arm 108 and the right mechanical arm 109 are arranged on both sides of the middle mounting plate 107. The left ejection mechanism 102 and the right ejection mechanism 103 are respectively fixed on the left mechanical arm 108 and the right mechanical arm 109. The left and right mechanical arms are connected by multiple joints, and the angles between adjacent joints are adjustable. The left ejection mechanism 102 and the right ejection mechanism 103 are respectively arranged on the end joints of the left and right mechanical arms. The 2# motor 105 and the 3# motor 106 serve as ejection motors of the left ejection mechanism 102 and the right ejection mechanism 103, respectively. The ejection mechanism 102 and the right ejection mechanism 103 have the same structure.

[0034] The support frame 1 includes a support base 110, a left support rod 111, a right support rod 112 and a transverse support rod 113. The left support rod 111 and the right support rod 112 are fixed on the support base 110. The transverse support rod 113 is fixed between the top ends of the left and right support rods, and the rope fixing and releasing mechanism is arranged in the middle of the transverse support rod 113. Both the left support rod 111 and the right support rod 112 can be designed as telescopic rods to facilitate the adjustment of the support height.

[0035] Embodiment 2:

[0036] This embodiment provides a test system for testing a rope bending effect, comprising:

[0037] As provided in Example 1, the test device for testing the bending effect of the rope, as a supporting mechanism of the bending rope to be tested, realizes the release of the bending rope under the control of the data processing unit. The 1# motor, 2# motor, 3# motor and camera unit in the test device for testing the bending effect of the rope are controlled by the data processing unit. Specifically, the data processing unit is connected to a synchronization trigger, and the data processing unit synchronously controls the motors and camera units corresponding to the left ejection mechanism, the right ejection mechanism and the fixed spring clip, so as to realize the synchronous launch of the two mass blocks and the synchronous release of the fixed spring clip. At the same time, the camera unit synchronously shoots the entire release process of the bending rope.

[0038] The camera unit, under the control of the data processing unit, shoots the entire release process of the bent rope and transmits the captured image data to the data processing unit. In this embodiment, the camera unit is two high-speed cameras, which are symmetrically arranged on both sides of the test device for testing the rope bending effect. The image data captured by the two high-speed cameras are transmitted to the data processing unit, which uses existing image processing technology to fuse the images captured by the left and right cameras, and then extracts the spatial motion trajectory of the bent rope in the image data.

[0039] The data processing unit is used to control the test device and the camera unit for testing the bending effect of the rope, receive the image data from the camera unit, and obtain the spatial motion trajectory of the bent rope in the image data.

[0040] The data processing unit also includes a rope dynamics simulation model, which compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope simulated by the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

[0041] Embodiment 3:

[0042] Based on the test system for testing the bending effect of a rope provided in Example 2, this embodiment provides a test method for testing the bending effect of a rope, including:

[0043] The bending rope to be tested is placed on the rope fixing and releasing mechanism of the test device for testing the bending effect of the rope, wherein the mass blocks connected at both ends of the bending rope to be tested are respectively fixed on the left ejection mechanism and the right ejection mechanism, and the bending rope to be tested is bent and folded in a Z shape and clamped by a fixed spring clip.

[0044] The data processing unit synchronously controls the left ejection mechanism, the right ejection mechanism, the fixed spring clip and the camera unit to achieve synchronous launching of the two mass blocks, synchronous release of the fixed spring clip and synchronous shooting of the high-speed camera in the camera unit.

[0045] The image data captured by the high-speed camera is transmitted to the data processing unit, and the data processing unit extracts the spatial motion trajectory of the bent rope from the image data.

[0046] The data processing unit compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope obtained by simulating the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

[0047] In summary, although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any ordinary technician in the field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A test system for testing the bending effect of a rope, characterized in that: include: The test device for testing the bending effect of a rope, as a supporting mechanism of a bending rope to be tested, realizes the release of the bending rope under the control of a data processing unit, the two ends of the bending rope to be tested are connected with mass blocks, and the bending rope to be tested is bent and folded together in a Z shape, and the test device for testing the bending effect of a rope comprises a supporting frame and a rope fixing and releasing mechanism, the rope fixing and releasing mechanism is arranged on the supporting frame, the rope fixing and releasing mechanism comprises a fixed spring clip, a left ejection mechanism and a right ejection mechanism, the fixed spring clip is used to clamp the bending rope to be tested, and the fixed spring clip is arranged in the middle. On the mounting plate, a left mechanical arm and a right mechanical arm are arranged on both sides of the middle mounting plate, and a left ejection mechanism and a right ejection mechanism are fixed on the left mechanical arm and the right mechanical arm respectively. The left and right mechanical arms are connected by multiple joints, and the angles between adjacent joints are adjustable. The left ejection mechanism and the right ejection mechanism are arranged on the joints at the end of the left and right mechanical arms respectively, and the fixed spring clip is connected to the 1# motor, and its opening and closing is controlled by the 1# motor; the mass blocks connected at both ends of the bending rope to be detected are placed on the left ejection mechanism and the right ejection mechanism, and the left ejection mechanism and the right ejection mechanism are controlled by the 2# motor and the 3# motor respectively, and are used to eject the corresponding mass blocks; A camera unit, which, under the control of the data processing unit, films the entire release process of the bent rope and transmits the captured image data to the data processing unit; The data processing unit is used to control the test device and the camera unit for testing the bending effect of the rope, receive the image data from the camera unit, and obtain the spatial motion trajectory of the bent rope in the image data; the data processing unit also includes a rope dynamics simulation model, which compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope obtained by simulating the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

2. The test system for testing the bending effect of a rope according to claim 1, characterized in that: The 1# motor, 2# motor, 3# motor and camera unit are controlled by a data processing unit, which is connected to a synchronization trigger. The data processing unit synchronously controls the motors and camera units corresponding to the left ejection mechanism, the right ejection mechanism and the fixed spring clip to achieve synchronous launching of the two mass blocks and synchronous release of the fixed spring clip. At the same time, the camera unit synchronously shoots the entire release process of the bent rope.

3. The test system for testing the bending effect of a rope according to claim 1, characterized in that: The camera unit is a high-speed camera, which is arranged in front of the test device for testing the bending effect of the rope; or, the camera unit is two high-speed cameras, which are symmetrically arranged on both sides of the test device for testing the bending effect of the rope.

4. A test device for testing the bending effect of a rope, characterized in that: It includes a support frame and a rope fixing and releasing mechanism, wherein the rope fixing and releasing mechanism is arranged on the support frame, and the rope fixing and releasing mechanism includes a fixed spring clip, a left ejection mechanism and a right ejection mechanism, wherein the fixed spring clip is used to clamp the curved rope to be detected, and the fixed spring clip is arranged on a middle mounting plate, and a left mechanical arm and a right mechanical arm are arranged on both sides of the middle mounting plate, and the left ejection mechanism and the right ejection mechanism are respectively fixed on the left mechanical arm and the right mechanical arm, and the left and right mechanical arms are both connected by multiple joints, and the angles between adjacent joints are adjustable, and the left ejection mechanism and the right ejection mechanism are respectively arranged on the end joints of the left and right mechanical arms; the fixed spring clip is connected to the 1# motor, and its opening and closing is controlled by the 1# motor; the mass blocks connected at both ends of the curved rope to be detected are placed on the left ejection mechanism and the right ejection mechanism, and the left ejection mechanism and the right ejection mechanism are respectively controlled by the 2# motor and the 3# motor for ejecting the corresponding mass blocks.

5. A test method for testing the bending effect of a rope, using a test system for testing the bending effect of a rope as claimed in any one of claims 1 to 3, characterized in that: include: The bending rope to be tested is placed on the rope fixing and releasing mechanism of the test device for testing the bending effect of the rope, wherein the mass blocks connected to the two ends of the bending rope to be tested are respectively fixed on the left ejection mechanism and the right ejection mechanism, and the bending rope to be tested is bent and folded in a Z shape and clamped by a fixed spring clip; The data processing unit synchronously controls the left ejection mechanism, the right ejection mechanism, the fixed spring clip and the camera unit to achieve synchronous launching of the two mass blocks, synchronous release of the fixed spring clip and synchronous shooting of the high-speed camera in the camera unit; The image data captured by the high-speed camera is transmitted to the data processing unit, and the data processing unit extracts the spatial motion trajectory of the bent rope from the image data.

6. The test method for testing the bending effect of a rope according to claim 5, characterized in that: include: The data processing unit compares the spatial motion trajectory of the bent rope in the acquired image data with the spatial motion trajectory of the bent rope obtained by simulating the rope dynamics simulation model to obtain the reliability of the simulation effect of the rope dynamics simulation model.

Images