Five-axis linkage precise control device suitable for PIV (particle image velocimetry) measurement
Through the design of the five-axis linkage precision control device, the problem of difficult maintenance of the calibration relationship between the laser and the camera during rapid movement in PIV measurement is solved, and the rapid and accurate positioning of the laser and the camera are realized, which improves the measurement accuracy and Control ability.
Patent Information
- Application Number
- CN202421252275.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-04
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-06-04
AI Technical Summary
The existing PIV measuring equipment cannot maintain the original calibration geometric relationship between the laser and the camera while moving quickly, resulting in the impact of measurement accuracy and lack of convenient rapid positioning and reconstruction capabilities, resulting in cumbersome and time-consuming operation.
A five-axis linkage precision control device is designed, including an annular slide rail, a laser head mount, a camera mount, a laser head clamping assembly and a camera clamping assembly. The laser head is realized through the sliding and adjustment components of the horizontal frame and the vertical frame. It has free movement and precise positioning with the camera, and has memory function, which can quickly reconstruct the geometric relationship between the camera and the laser.
It realizes the rapid and accurate positioning of the laser head and camera and the reconstruction of geometric relationships, saving time, improving measurement control capabilities, ensuring measurement accuracy, and avoiding operation errors.
Smart Images
Figure CN222353927U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of fluid mechanics experiments, and more specifically to a five-axis linkage precision control device suitable for PIV measurement. Background Art
[0002] Particle Image Velocimeter (PIV) is a flow field measurement technology that integrates optics, digital signal processing, image processing, computer control and other multi-disciplinary and multi-field technologies. By illuminating the tracer particles in the flow field with a laser, a high-speed camera synchronously records the motion image of the tracer particles, and further analyzing the motion information of the particle images in the flow field through the software system, it can achieve non-contact, non-disturbance, high-precision flow field measurement and obtain full flow field information. PIV can measure the velocity of fluid particles in all directions in three-dimensional space in complex turbulent flow fields. It has obvious advantages in measuring complex transient rheological fields and is currently the most advanced tool for flow field measurement research.
[0003] Before PIV calculation, the optical magnification between the measured image and the actual flow field must be determined (called calibration scale). Therefore, the PIV system must be calibrated during the measurement process, and the calibration process is quite cumbersome, involving the spatial relative relationship between the laser, flow field, and camera.
[0004] In order to achieve true full flow field measurement, it is inevitable to move the position of the camera and the laser in various directions during the actual measurement. The existing equipment cannot meet the use requirements of not changing the original calibration geometric relationship (or quickly reconstructing the original calibration geometric relationship) under such rapid movement, and there is a lack of effective control means to eliminate the control measures that affect the accuracy. The existing movable coordinate platform can only move relative to each other in two directions when in use, and only has a simple spatial adjustment function. The control ability is very weak. It cannot meet the control requirements for moving and adjusting in various parts and directions of the full flow field space for PIV measurement. At the same time, the laser (laser sheet light, i.e., flow field) and the camera cannot be linked, and the calibration operation of the target flow field is also cumbersome and labor-intensive. It does not have a "memory" function, is not convenient enough, and does not have the ability to quickly, conveniently, and accurately realize the rapid positioning and reconstruction of calibration and measurement. Utility Model Content
[0005] In view of this, the utility model aims to achieve fast and accurate positioning and geometric relationship reconstruction of the camera and the laser head, and solve the problem that a lot of time and energy are consumed in the PIV measurement process and operation errors cannot be avoided.
[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:
[0007] A five-axis linkage precision control device suitable for PIV measurement, comprising: an annular slide rail, a laser head mounting frame, a camera mounting frame, a laser head clamping assembly and a camera clamping assembly;
[0008] The laser head mounting frame has the same structure as the camera mounting frame, and both include a horizontal frame and a vertical frame. The length direction of the horizontal frame is perpendicular to the annular slide rail and the horizontal frame is slidably mounted on the top of the annular slide rail along the circumferential direction of the annular slide rail. The vertical frame is perpendicular to the horizontal frame and is slidably mounted on the top of the horizontal frame along the length direction of the horizontal frame.
[0009] The laser head clamping assembly is slidably mounted on the vertical frame of the laser head mounting frame along the vertical frame height direction, and the camera clamping assembly is slidably mounted on the vertical frame of the camera mounting frame along the vertical frame height direction;
[0010] The annular slide rail, the horizontal frame and the vertical frame are all provided with scales.
[0011] The beneficial effects that can be achieved by the utility model are as follows: the horizontal frames of the laser head mounting frame and the camera mounting frame can slide on the annular slide rail, and can move without dead angles on the plane of the annular slide rail, so as to adjust the position of the horizontal frame and mark the coordinate value corresponding to the horizontal frame. By moving the vertical frame on the horizontal frame, the position of the vertical frame can be adjusted and the coordinate value corresponding to the vertical frame can be marked. Then, by moving the laser head clamping assembly or the camera clamping assembly to adjust the height of the laser head or the camera, the coordinate value corresponding to the camera or the laser head on the clamping assembly is marked, so as to complete the positioning adjustment of the camera or the laser head. The adjustment range is wide without dead angles, and it has a memory function. As long as the relative geometric relationship between the laser and the camera is recorded, it can be quickly reconstructed during the transformation process, and there is no need to recalibrate the laser and the camera. It not only saves time, but also improves the measurement control ability and ensures the measurement accuracy.
[0012] Furthermore, a slide groove penetrating along the circumferential direction of the annular slide rail is opened in the middle of the bottom surface of the cross frame, and the annular slide rail is slidably connected in the slide groove.
[0013] Furthermore, a cross frame adjustment component is provided for driving the cross frame to slide, and the cross frame adjustment component includes a gear, a gear shaft and a first crank. A gear groove is provided on the outer ring wall of the annular slide rail, the cross frame is a hollow structure, and a gear mounting hole connected to its inner cavity is provided on the side wall of the slide groove of the cross frame. The gear is rotatably installed in the gear mounting hole and can engage with the gear groove for transmission; one end of the gear shaft is fixedly connected to the gear, and the other end passes through the bottom wall of the cross frame and extends to the bottom of the cross frame; the first crank is fixed to the other end of the gear shaft.
[0014] Furthermore, a vertical frame adjustment component is provided for driving the vertical frame to slide, and the vertical frame adjustment component includes a first lead screw, a first knob and a vertical frame buckle, the first lead screw is arranged along the length direction of the horizontal frame and is rotatably installed in the horizontal frame inner cavity above the corresponding gear, one end of the first lead screw passes through the end face of one end of the horizontal frame and is connected to the first rivet, and the other end passes through the end face of the other end of the horizontal frame, and the first knob is fixed to the other end of the first lead screw; the top of the horizontal frame is provided with a long vertical frame sliding hole arranged along its length direction and connected to its inner cavity, and the bottom of the vertical frame buckle is transmission-connected to the first lead screw so that the vertical frame buckle can extend along the top through the long vertical frame sliding hole to above the horizontal frame, and the top of the vertical frame buckle is provided with a slot for clamping with the vertical frame.
[0015] Furthermore, the laser head clamping assembly has the same structure as the camera clamping assembly, both comprising a lower clamp, an upper clamp and a locking bolt. The lower clamp can be slidably connected to the side wall of the vertical frame along the height direction of the vertical frame, and the upper clamp is correspondingly located above the lower clamp and has a sliding gap with the side wall of the vertical frame. The locking bolt is fixed to the upper clamp, and its tail end passes through the lower clamp and is fixed by a locking nut.
[0016] Furthermore, a height adjustment component for adjusting the height of the lower clamp is also provided, and the height adjustment component includes a second lead screw and a second crank, the vertical frame is a hollow structure, the second lead screw is axially arranged along the height direction of the vertical frame and is rotatably installed in the inner cavity of the vertical frame, the bottom end of the second lead screw passes through the bottom wall of the vertical frame to be connected to the second rivet, and the top end passes through the top wall of the vertical frame to extend above the vertical frame, and the second crank is fixed to the top end of the second lead screw; a long lower clamp sliding hole arranged in its length direction along its height direction is opened on the side wall of the vertical frame close to the lower clamp, and the side of the lower clamp away from the locking bolt can pass through the long lower clamp sliding hole to be transmission-connected to the second lead screw, so that the lower clamp can slide along the length direction of the long lower clamp sliding hole.
[0017] It can be seen from the above technical solutions that, compared with the prior art, the utility model discloses a five-axis linkage precision control device suitable for PIV measurement. By controlling the free movement of the horizontal frame, the vertical frame and the clamping assembly, the laser head and the camera can be driven to move freely as needed, so that the laser head can accurately illuminate the shooting area of the target flow field, and the camera can better focus on the shooting area to improve the measurement accuracy; and in conjunction with the scale rulers in various directions, the camera and the laser head can be accurately positioned with "memory" to correspond to the acquisition requirements of the target flow field in various directions. Through the five-axis linkage, the geometric space relative relationship of the laser, flow field and camera can be quickly and accurately positioned and reconstructed, which not only saves time, but also improves the measurement control capability and ensures accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the embodiments of the utility model 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 in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.
[0019] Figure 1 The utility model provides a structural schematic diagram of a five-axis linkage precision control device suitable for PIV measurement.
[0020] Figure 2 The present invention is a schematic diagram of the exploded structure of the horizontal frame provided by the present invention.
[0021] Figure 3 This is a side structural schematic diagram of the horizontal frame provided by the utility model.
[0022] Figure 4 The utility model is a schematic structural diagram of the vertical frame provided by the utility model.
[0023] Figure 5 This is a structural schematic diagram of the camera clamping assembly and the height adjustment assembly provided by the utility model.
[0024] In the figure: 1, annular slide rail, 11, gear groove, 2 laser head mounting frame, 21, horizontal frame, 211, slide groove, 212, long vertical frame slide hole, 22, vertical frame, 221, long lower clamp slide hole, 3, camera mounting frame, 4, laser head clamping assembly, 5 camera clamping assembly, 51, lower clamp, 52, upper clamp, 53, locking bolt, 6, horizontal frame adjustment assembly, 61, gear, 62, gear shaft, 63, first crank, 7, vertical frame adjustment assembly, 71, first screw, 72, first knob, 73, vertical frame buckle, 74, first rivet, 8, height adjustment assembly, 81, second screw, 82, second crank, 83, second rivet. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0026] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0027] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0028] See also Figure 1-Figure 5 The embodiment of the utility model discloses a five-axis linkage precision control device suitable for PIV measurement, comprising: an annular slide rail 1, a laser head mounting frame 2, a camera mounting frame 3, a laser head clamping assembly 4 and a camera clamping assembly 5;
[0029] The laser head mounting frame 2 has the same structure as the camera mounting frame 3, and both include a horizontal frame 21 and a vertical frame 22. The length direction of the horizontal frame 21 is perpendicular to the annular slide rail 1 and the horizontal frame 21 is slidably mounted on the top of the annular slide rail 1 along the circumferential direction of the annular slide rail 1; the vertical frame 22 is perpendicular to the horizontal frame 21 and is slidably mounted on the top of the horizontal frame 21 along the length direction of the horizontal frame 21.
[0030] The laser head clamping assembly 4 is slidably mounted on the vertical frame 22 of the laser head mounting frame 2 along the height direction thereof, and the camera clamping assembly 5 is slidably mounted on the vertical frame 22 of the camera mounting frame 3 along the height direction thereof;
[0031] The annular slide rail 1 , the horizontal frame 21 and the vertical frame 22 are all provided with scales.
[0032] The beneficial effects that can be achieved by the utility model are as follows: the horizontal frame 21 of the laser head mounting frame 2 and the camera mounting frame 3 can both slide on the annular slide rail 1, realizing 360-degree non-dead-angle movement on the plane of the annular slide rail 1. After adjusting the position of the horizontal frame 21, the vertical frame 22 can be moved on the horizontal frame 21 to adjust the position of the vertical frame 22, and then the height of the laser head or camera can be adjusted by moving the laser head clamping component 4 or the camera clamping component 5, thereby completing the positioning adjustment of the camera or laser head.
[0033] Specifically, a slide groove 211 penetrating along the circumferential direction of the annular slide rail 1 is opened in the middle of the bottom surface of the cross frame 21 , and the annular slide rail 1 can be slidably connected to the slide groove 211 .
[0034] Specifically, a horizontal frame adjustment assembly 6 for driving the horizontal frame 21 to slide is also provided. The horizontal frame adjustment assembly 6 includes a gear 61, a gear shaft 62 and a first crank 63. A gear groove 11 is provided on the outer ring wall of the annular slide rail 1. The horizontal frame 21 is a hollow structure, and a gear mounting hole communicating with the inner cavity thereof is provided on the side wall of the slide groove of the horizontal frame 21. The gear 61 is rotatably installed at the gear mounting hole and can be meshed with the gear groove 11 for transmission. One end of the gear shaft 62 is fixedly connected to the gear 61, and the other end passes through the bottom wall of the horizontal frame 21 and extends to the bottom of the horizontal frame 21. The first crank 63 is fixed to the other end of the gear shaft 62. When the first crank 63 is rotated, the gear rotates to drive the horizontal frame 21 to move on the annular slide rail 1.
[0035] Specifically, a vertical frame adjustment component 7 is also provided for driving the vertical frame 22 to slide. The vertical frame adjustment component 7 includes a first screw rod 71, a first knob 72 and a vertical frame buckle 73. The first screw rod 71 is arranged along the length direction of the horizontal frame 21 and is rotatably mounted in the inner cavity of the horizontal frame 21 above the corresponding gear 61. One end of the first screw rod 71 passes through the end surface of one end of the horizontal frame 21 and is connected to the first rivet 74, and the other end passes through the end surface of the other end of the horizontal frame 21, and the first knob 72 is fixed to the other end of the first screw rod 71; the top of the horizontal frame 21 is provided with a long vertical frame sliding hole 212 arranged along its length direction and connected to its inner cavity, and the bottom of the vertical frame buckle 73 is transmission-connected to the first screw rod 71, so that the vertical frame buckle 73 can extend to the top of the horizontal frame 21 through the long vertical frame sliding hole 212 along the top, and the vertical frame buckle 73 is provided with a slot for engaging with the vertical frame 22. The first knob 72 is turned to rotate the first lead screw 71 , driving the vertical frame 22 on the vertical frame buckle 73 to move along the long vertical frame sliding hole 212 .
[0036] Specifically, the laser head clamping assembly 4 has the same structure as the camera clamping assembly 5, and both include a lower clamping piece 51, an upper clamping piece 52, and a locking bolt 53. The lower clamping piece 51 can be slidably connected to the side wall of the vertical frame 22 along the height direction of the vertical frame 22, and the upper clamping piece 52 is correspondingly located above the lower clamping piece 51 and has a sliding gap with the side wall of the vertical frame 22. The locking bolt 53 is fixed to the upper clamping piece 52, and its tail end passes through the lower clamping piece 51 and is fixed by a locking nut. By adjusting the length of the portion of the locking bolt 53 screwed into the lower clamping piece 51, the distance between the upper and lower clamping pieces 51 can be adjusted to tighten and clamp the camera or laser head.
[0037] Specifically, a height adjustment component 8 for adjusting the height of the lower clamp 51 is also provided. The height adjustment component 8 includes a second lead screw 81 and a second crank 82. The vertical frame 22 is a hollow structure. The second lead screw 81 is axially arranged along the height direction of the vertical frame 22 and is rotatably installed in the inner cavity of the vertical frame 22. The bottom end of the second lead screw 81 passes through the bottom wall of the vertical frame 22 to be connected to the second rivet 83, and the top end passes through the top wall of the vertical frame 22 to extend above the vertical frame 22, and the second crank 82 is fixed to the top of the second lead screw 81; an elongated lower clamp sliding hole 221 arranged along its height direction is provided on the side wall of the vertical frame 22 close to the lower clamp 51. The side of the lower clamp 51 away from the locking bolt 53 can pass through the elongated lower clamp sliding hole 221 to be transmitted and connected to the second lead screw 81, so that the lower clamp 51 can slide along the length direction of the elongated lower clamp sliding hole 221. By turning the second knob, the second lead screw 81 rotates, driving the clamping assembly to move along the long strip lower clamp slide hole 221, and adjusting the height of the laser head or the camera. After adjustment, the laser head can accurately illuminate the shooting area of the target flow field, and the camera can better focus on the shooting area, so as to obtain more accurate measurement results.
[0038] During the calibration process using this device, after the laser head is adjusted, the scale on the corresponding annular slide rail 1 is a, the scale on the corresponding horizontal frame 21 is b, and the scale on the corresponding vertical frame 22 is c, then the corresponding coordinates can be recorded as (a, b, c); similarly, the coordinates corresponding to the camera can be recorded as (a', b', c'). Therefore, when using this device to measure, as long as the original calibration position relationship is marked, the coordinate precision control device is linked at equal distances, and the relative position of the camera and laser is changed in a "memory" manner on the coordinate system, the linkage operation of the movement of the measurement area can be quickly changed to correspond to the acquisition requirements of the target flow field in various directions. Moreover, in subsequent measurements, as long as the relative geometric relationship between the laser and the camera is recorded, it can be quickly reconstructed during the transformation process, without the need to recalibrate the laser and the camera, which not only saves time, but also improves the measurement control ability and ensures accuracy.
[0039] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.
[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A five-axis linkage precision control device suitable for PIV measurement, characterized in that: include: An annular slide rail (1), a laser head mounting frame (2), a camera mounting frame (3), a laser head clamping assembly (4) and a camera clamping assembly (5); The laser head mounting frame (2) and the camera mounting frame (3) have the same structure, and both comprise a horizontal frame (21) and a vertical frame (22); the length direction of the horizontal frame (21) is arranged perpendicularly to the annular slide rail (1), and the horizontal frame (21) is slidably mounted on the top of the annular slide rail (1) along the circumferential direction of the annular slide rail (1); the vertical frame (22) is arranged perpendicularly to the horizontal frame (21), and is slidably mounted on the top of the horizontal frame (21) along the length direction of the horizontal frame (21); The laser head clamping assembly (4) is slidably mounted on the vertical frame (22) of the laser head mounting frame (2) along the height direction of the vertical frame (22), and the camera clamping assembly (5) is slidably mounted on the vertical frame (22) of the camera mounting frame (3) along the height direction of the vertical frame (22); The annular slide rail (1), the horizontal frame (21) and the vertical frame (22) are all provided with scales.
2. A five-axis linkage precision control device suitable for PIV measurement according to claim 1, characterized in that: A slide groove (211) is provided in the middle of the bottom surface of the cross frame (21) and passes through the annular slide rail (1) in the circumferential direction, and the annular slide rail (1) is slidably connected in the slide groove (211).
3. A five-axis linkage precision control device suitable for PIV measurement according to claim 2, characterized in that: A cross frame adjustment component (6) for driving the cross frame (21) to slide is also provided. The cross frame adjustment component (6) includes a gear (61), a gear shaft (62) and a first crank (63). A gear groove (11) is provided on the outer ring wall of the annular slide rail (1). The cross frame (21) is a hollow structure, and a gear mounting hole communicating with the inner cavity of the cross frame (21) is provided on the side wall of the slide groove. The gear (61) is rotatably mounted at the gear mounting hole and can be meshed with the gear groove (11) for transmission. One end of the gear shaft (62) is fixedly connected to the gear (61), and the other end passes through the bottom wall of the cross frame (21) and extends to the bottom of the cross frame (21). The first crank (63) is fixed to the other end of the gear shaft (62).
4. A five-axis linkage precision control device suitable for PIV measurement according to claim 3, characterized in that: A vertical frame adjustment assembly (7) for driving the vertical frame (22) to slide is also provided, and the vertical frame adjustment assembly (7) comprises a first screw (71), a first knob (72) and a vertical frame buckle (73), wherein the first screw (71) is arranged along the length direction of the horizontal frame (21) and is rotatably mounted in the inner cavity of the horizontal frame (21) above the corresponding gear (61), one end of the first screw (71) passes through the end surface of one end of the horizontal frame (21) and is connected to a first rivet (74), and the other end passes through the other end of the horizontal frame (21) The first knob (72) is fixed to the other end of the first lead screw (71); the top of the cross frame (21) is provided with a long vertical frame sliding hole (212) arranged along its length direction and connected to its inner cavity; the bottom of the vertical frame buckle (73) is transmission-connected to the first lead screw (71), so that the vertical frame buckle (73) can pass through the long vertical frame sliding hole (212) along the top to extend to the top of the cross frame (21); and the top of the vertical frame buckle (73) is provided with a slot for clamping with the vertical frame (22).
5. A five-axis linkage precision control device suitable for PIV measurement according to claim 4, characterized in that: The laser head clamping assembly (4) has the same structure as the camera clamping assembly (5), and both include a lower clamping piece (51), an upper clamping piece (52) and a locking bolt (53). The lower clamping piece (51) can be slidably connected to the side wall of the vertical frame (22) along the height direction of the vertical frame (22). The upper clamping piece (52) is correspondingly located above the lower clamping piece (51) and has a sliding gap with the side wall of the vertical frame (22). The locking bolt (53) is fixed on the upper clamping piece (52), and its tail end passes through the lower clamping piece (51) and is fixed by a locking nut.
6. A five-axis linkage precision control device suitable for PIV measurement according to claim 5, characterized in that: A height adjustment assembly (8) for adjusting the height of the lower clamp (51) is also provided, the height adjustment assembly (8) comprising a second lead screw (81) and a second crank (82), the vertical frame (22) being a hollow structure, the second lead screw (81) being axially arranged along the height direction of the vertical frame (22) and being rotatably mounted in the inner cavity of the vertical frame (22), the bottom end of the second lead screw (81) passing through the bottom wall of the vertical frame (22) to connect with a second rivet (83), and the top end passing through the top wall of the vertical frame (22) to extend to the vertical frame (2 2), the second crank handle (82) is fixed on the top of the second lead screw (81); a side wall of the vertical frame (22) close to the lower clamp (51) is provided with a long strip lower clamp slide hole (221) arranged along its height direction in the length direction, and the side of the lower clamp (51) away from the locking bolt (53) can pass through the long strip lower clamp slide hole (221) to be transmission-connected to the second lead screw (81), so that the lower clamp (51) can slide along the length direction of the long strip lower clamp slide hole (221).