CN108709631A - Flexible truss vibration detection device and method - Google Patents

Abstract

The invention discloses a kind of flexible truss vibration detection device and methods, described device includes flexible truss, drive mechanism and vibration detection mechanism, the drive mechanism is connect with flexible truss, for driving flexible truss to generate vibration, the vibration detection mechanism includes binocular vision system, workbench, acceleration transducer and processing equipment, the binocular vision system is arranged on workbench, for detecting the index point region on flexible truss, the acceleration transducer is arranged on flexible truss, the processing equipment respectively with binocular vision system, acceleration transducer connects.The present invention is detected flexible truss using vision and acceleration transducer, by the way that the advantage of two kinds of detection modes is combined, not only vision-based detection had been compensated in the disadvantage of the insufficient picture contrast deficiency of illumination condition, but also illustrated the flexibility of vision-based detection and good adaptability.

Description

Flexible truss vibration detection device and method

technical field

The invention relates to a vibration detection device, in particular to a flexible truss vibration detection device and method, belonging to the field of vibration detection of space extension structures.

Background technique

Flexible structures are widely used in aerospace and industrial production fields. Compared with rigid structures, they have the advantages of light weight, low energy consumption, high efficiency, and flexible operation. However, flexible structures have low natural frequencies and low-frequency modal vibrations are easily excited. It limits its application and development on spacecraft antennas and sailboards.

In recent years, people's research on the structure of spacecraft has become a research focus and a hot topic. Due to the limited improvement of the rocket's carrying capacity, the use of flexible structures for antennas is the primary choice. The application of the flexible truss in space is mainly in the external extension mechanism of the spacecraft. The motor drives the flexible truss to extend, and the free end of the truss is connected to another signal transmitting and receiving device. In addition, the reflective film can also be deployed on both sides through this flexible stretch truss. In practical applications, since the truss structure is flexible, light in weight, and has small damping in space, the truss is easy to cause vibrations, which will cause greater deviations in the accuracy of the detection system. In order to improve the precision of spacecraft, the research on the vibration of space flexible structures is becoming more and more urgent. Since the natural frequency distribution of the truss structure itself is very complex, the requirements for vibration detection methods are relatively high. The acceleration sensor has the advantages of wide frequency band, simple structure, light weight, and easy installation. The vibration feedback signal of the flexible truss can be processed in real time by using the reasonable distribution of the acceleration sensor, which is convenient for practical application.

Visual inspection is a new detection method in recent years. Because it has very little impact on the dynamic performance of the original flexible truss system, it is suitable for vibration detection of space flexible extension structures.

Generally, in ground simulation experiments, in addition to the influence of gravity on the characteristics of the truss structure, the hardware conditions of the laboratory are also one of the influencing factors. It is necessary to replace the actual antenna structure with a model and adopt a reasonable structural design.

Contents of the invention

The purpose of the present invention is to solve the defects of the above-mentioned prior art, and provide a flexible truss vibration detection device, which uses vision and acceleration sensors to detect the flexible truss, by combining the advantages of the two detection methods, it not only compensates The disadvantage of insufficient image contrast of visual inspection in the case of insufficient lighting conditions shows the flexibility and good adaptability of visual inspection.

Another object of the present invention is to provide a method for detecting vibration of a flexible truss based on the above device.

The purpose of the present invention can be achieved by taking the following technical solutions:

The flexible truss vibration detection device includes a flexible truss, a piezoelectric drive mechanism and a vibration detection mechanism. The piezoelectric drive mechanism is connected to the flexible truss to drive the flexible truss to generate vibration. The vibration detection mechanism includes a binocular vision system, a working Platform, acceleration sensor and processing equipment, the binocular vision system is arranged on the work platform, used to detect the mark point area on the flexible truss, the acceleration sensor is arranged on the flexible truss, and the processing equipment is respectively connected with the binocular vision System, acceleration sensor connection.

Further, the flexible truss has a multi-layer structure, each layer structure is composed of sixteen flexible rods connected to each other, and the lowest layer structure is connected to the piezoelectric driving mechanism.

Further, in each layer structure of the flexible truss, the sixteen flexible rods include eight horizontal flexible rods, four vertical flexible rods and four inclined flexible rods, and the four horizontal flexible rods are connected with the other four horizontal flexible rods. The rods are arranged symmetrically up and down, four vertical flexible rods and eight horizontal flexible rods form a cube, and four inclined flexible rods are respectively arranged on the four sides of the cube.

Further, in the bottommost structure of the flexible truss, two flexible rods are respectively connected to the piezoelectric drive mechanism, and each flexible rod of the flexible truss except for these two flexible rods is evenly distributed with multiple circles of marking points.

Further, the device also includes a support platform, on which the bottommost structure of the flexible truss is fixed.

Further, the binocular vision system includes two industrial cameras, a guide rail, two sliders and two pan heads, the two sliders are slidably arranged on the guide rails, and the guide rails are fixed on the working platform. The two industrial cameras, the two sliders and the two pan-tilts are in one-to-one correspondence, each industrial camera is set on the corresponding pan-tilt, and each pan-tilt is fixed on the corresponding slider.

Further, the vibration driving mechanism includes a piezoelectric ceramic actuator and a signal processing module, the piezoelectric ceramic actuator is connected to the flexible truss, and the signal processing module is connected to the electric ceramic actuator.

Further, the signal processing module includes a signal generator and a power amplifier, and the signal generator, power amplifier and piezoelectric ceramic actuator are connected in sequence.

Further, the processing device includes a computer, an A/D acquisition card and a filter amplifier circuit, and the computer is connected to the binocular vision system, and is connected to the acceleration sensor through the A/D acquisition card, the filter amplifier circuit in turn.

Another object of the present invention can be achieved by taking the following technical solutions:

Based on the flexible truss vibration detection method of the above-mentioned device, the method includes:

The signal generator provides a sine wave signal of a certain frequency and amplitude, and under the action of the power amplifier, the voltage is amplified to a certain level of driving voltage, thereby driving the piezoelectric ceramic actuator to control the vibration of the flexible truss;

The acceleration sensor feeds back the vibration signals in the three directions of X, Y, and Z, the filter amplifier circuit eliminates the interference frequency, and the A/D acquisition card converts the analog signal into a digital signal and inputs it to the host computer for real-time processing;

Set an appropriate distance between the two industrial cameras of the binocular vision system and the flexible truss, adjust the angles of the two industrial cameras through the coarse adjustment knob and fine adjustment knob of the pan/tilt, and adjust the angle of the two industrial cameras through the slider. The horizontal position is fixed, and the unified coordinate value of the flexible truss is obtained according to the stereo calibration of the industrial camera;

When the flexible truss vibrates, the image is collected by the industrial camera, and the data is input into the host computer of the computer for real-time processing to obtain various vibration parameters of the flexible truss, and the 3D reconstruction picture is displayed on the computer monitor.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention uses vision and acceleration sensors to detect flexible trusses. By combining the advantages of the two detection methods, it not only makes up for the shortcomings of insufficient image contrast in the case of insufficient light conditions in visual detection, but also demonstrates the flexibility of visual detection. And good adaptability, it can provide a more feasible solution in the case of insufficient laboratory conditions, and achieve the purpose of reducing the cost of experiments and the difficulty of construction.

2. The flexible truss of the present invention has a multi-layer structure, and each layer structure is formed by interconnecting sixteen flexible rods, wherein four horizontal flexible rods are symmetrically arranged up and down with the other four horizontal flexible rods, and four vertical flexible rods are connected with the other four horizontal flexible rods. Eight horizontal flexible rods form a cube, and four inclined flexible rods are respectively arranged on the four sides of the cube. Through reasonable mechanical structure design and proper modeling based on the practical flexible truss antenna, a suitable applicable Based on the structure of the existing laboratory conditions, as far as possible to achieve the actual effect.

3. The present invention uses a piezoelectric ceramic actuator to drive the two flexible rods at the bottom of the flexible truss, uses the inverse piezoelectric effect to actively excite the flexible truss to generate vibration, and drives the flexible truss to vibrate in X, Y, and Z directions, thereby performing A series of detection tests and analysis of vibration results.

4. The binocular vision system of the present invention is provided with two industrial cameras. By moving the two sliders on the guide rail, the horizontal positions of the two industrial cameras can be adjusted, thereby changing the positional relationship between the two industrial cameras and ensuring that the signs The points are all within the field of view of the visual detection of the two industrial cameras, so as to collect the spatial coordinates of all marker points within the field of view, and can collect a complete image. Through the coarse adjustment knob and fine adjustment knob of the two PTZs, the two industrial The pitch and horizontal angles of the camera.

5. The present invention uses visual detection means to detect the flexible truss. Due to the non-contact measurement method, it can minimize the influence on the natural frequency and modal frequency of the flexible truss, and provide more real and accurate data for subsequent experiments and applications.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of a flexible truss vibration detection device according to Embodiment 1 of the present invention.

Fig. 2 is a front view of the flexible truss vibration detection device according to Embodiment 1 of the present invention.

Fig. 3 is a top view of the flexible truss vibration detection device according to Embodiment 1 of the present invention.

Fig. 4 is a right view of the flexible truss vibration detection device according to Embodiment 1 of the present invention.

Fig. 5 is a schematic structural diagram of a flexible truss according to Embodiment 1 of the present invention.

Fig. 6 is a schematic structural diagram of the binocular vision system according to Embodiment 1 of the present invention arranged on the working platform.

Fig. 7 is a flow chart of the vibration detection method of the flexible truss according to Embodiment 1 of the present invention.

Among them, 1-flexible truss, 101-horizontal flexible rod, 102-vertical flexible rod, 103-inclined flexible rod, 104-uniaxial universal joint, 105-link ball, 106-fixed tripod, 2-mark point, 3-support platform, 301-substrate, 302-support feet, 303-horizontal support rod, 4-piezoelectric ceramic actuator, 5-signal generator, 6-power amplifier, 7-binocular vision system, 701-section 1 industrial camera, 702-second industrial camera, 703-guide rail, 704-first slider, 705-second slider, 706-first pan/tilt, 707-second pan/tilt, 8-working platform, 801- Vertical support bar, 802-upper board, 803-middle board, 804-lower board, 9-acceleration sensor, 10-sensor power supply, 11-A/D acquisition card, 12-filter amplifier circuit, 13-host, 14 -monitor.

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example 1:

As shown in FIGS. 1 to 4 , this embodiment provides a flexible truss vibration detection device, which includes a flexible truss 1 , a piezoelectric driving mechanism and a vibration detection mechanism.

As shown in Figures 1 to 5, the flexible truss 1 is assembled from eighty-eight flexible rods with the same material and different sizes. Its cross section is rectangular and has a seven-layer structure. Specifically, each layer structure consists of Sixteen flexible rods are connected to each other, and the sixteen flexible rods include eight horizontal flexible rods 101, four vertical flexible rods 102, and four inclined flexible rods 103, wherein four horizontal flexible rods 101 are connected with the other four horizontal flexible rods. The flexible rods 102 are arranged symmetrically up and down. Four vertical flexible rods 102 and eight horizontal flexible rods 101 form a cube. Four inclined flexible rods 103 are respectively arranged on the four sides of the cube. The flexible rods 102 act as four horizontal flexible rods 102 above the next layer of structure, and so on until the lowest layer of structure.

Further, the two ends of the sixteen flexible rods of each layer structure are externally threaded, and the two ends of each flexible rod are connected to the single-axis universal joint 104 by threads, and each flexible rod is linked with the single-axis universal joint 104. The ball 105 is fixedly connected, so that the flexible rods are connected to each other; the two flexible rods in the bottommost structure are respectively connected to the piezoelectric drive mechanism. In this embodiment, a vertical flexible rod 102 and an inclined flexible rod 103 are selected. In the flexible truss 1, except for these two flexible rods, there are three circles of marking points 2 evenly distributed on each flexible rod, and the distribution positions of the marking points 2 on all horizontal flexible rods 101 and vertical flexible rods 102 are exactly the same, and all inclined flexible rods 103 The distribution positions of the marker points 2 on are also exactly the same.

In order to stably support the flexible truss 1, the flexible truss vibration detection device of this embodiment also includes a supporting platform 3, and the bottom structure of the flexible truss 1 is fixed on the supporting platform 3; further, the supporting platform 3 includes a base plate 301 and four supporting feet 302, the two ends of the four horizontal flexible rods 102 below the bottom structure of the flexible truss 1 are coaxially installed with fixed legs 106, a total of eight fixed legs 106 are fixed on the upper surface of the base plate 301 by fastening bolts, The four supporting feet 302 are fixedly connected to the lower surface of the base plate 301 respectively, and a transverse supporting rod 303 is arranged between two adjacent supporting feet 302, so that the entire supporting platform 3 is more stable.

In this embodiment, the flexible truss 1 is a dense-frequency three-dimensional seven-story space flexible truss structure. The size of the flexible truss structure is 0.4m×0.4m×2.8m. The materials of each flexible rod are exactly the same, all of which are carbon fiber tubes. They are Φ20×0.4m, Φ20×0.4m, Φ20×0.606m, the modulus of elasticity is 207GPa, and the density is 1.8X10 ³ kg/m ³ . On the support platform 3 where the four nodes at the bottom are completely fixed, one end is fixed by simulating the spacecraft antenna, and the other end is a free end. The nodes are spherical nodes, uniformly processed and cut into planes of the same size, and drilled with threads of Φ8×8 size There are several holes to ensure that the flexible rods can be correctly combined; the support platform 3 is assembled from three aluminum profiles with sizes of 480mm, 500mm, and 680mm, and the base plate 301 is a stainless steel plate of 600mm×800mm×8m. The bolts are connected with the profile, and each joint of the profile is fixed with angle iron.

The piezoelectric drive mechanism is used to drive the flexible truss to vibrate, and it includes a piezoelectric ceramic actuator 4 and a signal processing module. The signal processing module includes a signal generator 5 and a power amplifier 6. The piezoelectric ceramic actuator of this embodiment The device 4 is a mechanical piezoelectric ceramic actuator, and there are four in total, wherein two piezoelectric ceramic actuators 4 are respectively screwed to the two ends of a vertical flexible rod 102 in the lowest structure, and the vertical flexible rod 102 After the piezoelectric ceramic actuator 4 is connected, it is fixedly connected to the link ball 105 through a single-axis universal joint 104, and the other two piezoelectric ceramic actuators 4 are respectively screwed to an inclined flexible rod 103 in the bottom structure. At both ends, after the inclined flexible rod 103 is connected to the piezoelectric ceramic actuator 4, it is fixedly connected to the link ball 105 through the uniaxial universal joint 104, and the signal generator 5, the power amplifier 6 and each piezoelectric ceramic actuator 4 are connected in turn, the signal generator 5 provides a sine wave signal of a certain frequency and amplitude, and under the action of the power amplifier 6, the voltage is amplified to a certain degree of driving voltage, thereby driving the piezoelectric ceramic actuator 4 to control the vibration of the flexible truss 1, Specifically, the flexible truss is driven to vibrate in XYZ directions, and a series of detection tests are carried out, and the vibration results are analyzed. The parameters of the piezoelectric ceramic actuator 4 on the same flexible rod are the same, but the mechanical movement directions of the free ends are different. The directions of are all along the axis of the rod and opposite.

In this embodiment, the piezoelectric ceramic actuator 4 adopts the PSt150/7/100 VS12 product developed by Harbin Core Tomorrow Company. The piezoelectric ceramic actuator adopts an external thread adapter, and the nominal stroke is 95+10% μm, nominal thrust 1200N, resonant frequency 10KHz, stiffness 10+20%N/μm; signal generator 5 is selected as Angilent-33220A, manufactured by Agilent Instruments Co., Ltd., which can provide -15-+15V sine wave signal; the power amplifier 6 is selected as YE5872, purchased from Jiangsu Lianeng Electronic Technology Co., Ltd., and can amplify the signal to -120-+120V.

As shown in Figures 1 to 6, the vibration detection mechanism includes a binocular vision system 7, a working platform 8, an acceleration sensor 9 and processing equipment. The binocular vision system 7 is set on the working platform 8 for detecting Marking point 2 area, specifically, the working platform 8 includes three layers of boards and four vertical support rods 801, the three boards are respectively the upper board 802, the middle board 803 and the lower board 804, and the four vertical support rods 801 The upper ends of the four vertical support rods 801 are respectively fixedly connected to the four corners of the upper board 802, the middle parts of the four vertical support rods 801 are respectively fixedly connected to the four corners of the middle board 803, and the lower ends of the four vertical support rods 801 are respectively connected to the bottom board 804. The four corners are fixedly connected, and the binocular vision system 7 of this embodiment is arranged on the upper surface of the upper board 802 .

Further, the binocular vision system 7 includes a first industrial camera 701, a second industrial camera 702, a guide rail 703, a first slider 704, a second slider 705, a first cloud platform 706 and a second platform 707, and the guide rail 703 is fixed on the upper surface of the upper plate 802, and the first slider 704 and the second slider 705 are slidably arranged on the guide rail 703, that is, the first slider 704 and the second slider 705 can move on the guide rail 703, the first industrial The camera 701 and the second industrial camera 702 are installed symmetrically. Both the first platform 706 and the second platform 707 adopt spherical platforms. The first industrial camera 701 is set on the first platform 706, and the first platform is connected by a 1/4 screw. The cloud platform 706, the second industrial camera 702 is arranged on the second platform 707, specifically connected to the second platform 707 by 1/4 screw, the first platform 706 is fixed on the first slider 704, the second platform 707 Fixed on the second slider 705, by moving the first slider 704 and the second slider 705, the horizontal position of the first industrial camera 701 and the second industrial camera 702 can be adjusted, thereby changing the first industrial camera 701 and the second The positional relationship between the industrial cameras 702 ensures that the marker points 2 are all within the visual detection range of the first industrial camera 701 and the second industrial camera 702, thereby collecting the spatial coordinates of all marker points 2 within the range of vision, which can be adjusted by adjusting The coarse adjustment knob and the fine adjustment knob on the first platform 706 and the second platform 707 control the horizontal angle and pitch angle of the first industrial camera 701 and the second industrial camera 702, and have multiple damping gears.

Further, there are four acceleration sensors 9, all powered by the sensor power supply 10, one acceleration sensor 9 is installed at the end position of the horizontal flexible rod 101 on the top layer of the flexible truss 1, and one acceleration sensor 9 is installed on the top layer of the flexible truss 1 An acceleration sensor 9 is installed at the end position of the vertical flexible rod 102 on the second layer above the flexible truss 1, and an acceleration sensor 9 is installed on the vertical flexible rod 102 on the third layer above the flexible truss 1 At the end positions, the remaining four floors of the flexible truss 1 are not equipped with acceleration sensors 9 .

Further, the processing device includes a computer, an A/D acquisition card 11 and a filter amplifier circuit 12, and the computer is connected to the binocular vision system 7, and is respectively connected with the four accelerometers through the A/D acquisition card 11 and the filter amplifier circuit 12 successively. The sensor 9 is connected, wherein the computer includes a host 13 and a display 14, the first industrial camera 701 and the second industrial camera 702 are connected to the host 13 through a USB data line, and the first industrial camera 701 and the second industrial camera 702 mark their respective coordinate systems , the unified coordinate value of the flexible truss 1 is obtained. When the flexible truss 1 vibrates, the first industrial camera 701 and the second industrial camera 702 perform image acquisition, and the first industrial camera 701 and the second industrial camera 702 perform image acquisition according to a certain sampling time Acquisition, image processing is carried out through the host computer 13 of the computer, the vibration displacement of the marker point 2 can be analyzed by comparing the original coordinates, and then the vibration parameters of the flexible truss can be analyzed, and the 3D reconstruction picture is displayed on the display 14 of the computer; An acceleration sensor 9 detects the composite signal of the vibration and movement of the free end of the flexible truss 1, and the signals of different channels pass through the filter amplifier circuit 12 and the A/D acquisition card 11, and input them to the host computer 13 of the computer for corresponding algorithm analysis, and obtain The vibration frequency response diagram of the free end of the flexible truss 1 and parameters such as damping ratio can be used to compare with the results of visual inspection later.

In this embodiment, the first industrial camera 701 and the second industrial camera 702 adopt the model GE1050 industrial camera from Canada Prosilica Company, the resolution is 1megapixels 1024×1024, and the photosensitive element is 1/2 "CCD image sequential scanning Kodak KAI- 01050, the maximum frame rate is 60fps, the light color is white light, the traditional Cat-5e network cable is used, and the interface type is Gigabit Ethernet; the first gimbal 706 and the second gimbal 707 adopt the gimbal type B0 of BENRO company; the material It is a magnesium alloy, which can bear 8kg, and the base adopts UNC3/8 interface; the guide rail 703 adopts the matching guide rail of the pan/tilt, the material is metal, the length of the guide rail is 1m, and the size of the fixed bottom hole is 3/8 inch; the acceleration sensor 9 chooses the model of Kistler company The 8762A5 voltage type acceleration sensor has a nominal sensitivity of 1000mv/g, a measurement frequency range of 0.5-6000Hz, and a measurement direction of three axes; the sensor power supply 10 adopts supporting equipment from Kistler Company; the A/D acquisition card 11 adopts The PCI-1800H model is installed in the PCI card slot of the computer; the filter amplifier circuit 12 uses the model YE3760A, produced by Jiangsu Lianeng Electronic Technology Co., Ltd; the computer uses the I500-7255 model, and the manufacturer is Founder Technology Group Co., Ltd.

As shown in Figures 1 to 7, this embodiment also provides a flexible truss vibration detection method, which is implemented based on the above-mentioned device and includes the following steps:

Step 1, the signal generator 5 provides a sine wave signal of a certain frequency and amplitude, and under the action of the power amplifier 6, the voltage is amplified to a certain level of driving voltage, thereby driving the piezoelectric ceramic actuator 4 to control the vibration of the flexible truss 1;

Step 2, four acceleration sensors 9 feed back the vibration signals in the three directions of X, Y, and Z, the filter amplifier circuit 12 eliminates the effect of the interference frequency, and the A/D acquisition card 11 converts the analog signal into a digital signal input to the host 13 of the computer real-time processing;

Step 3: Set an appropriate distance between the two industrial cameras and the flexible truss 1, adjust the angle of the first industrial camera 701 through the coarse adjustment knob and fine adjustment knob of the first pan/tilt 706, and adjust the angle of the first industrial camera 701 through the second pan/tilt 707. The coarse adjustment knob and the fine adjustment knob adjust the angle of the second industrial camera 702 properly, the horizontal position of the first industrial camera 701 is fixed by the first slider 704, and the horizontal position of the second industrial camera 702 is adjusted by the second slider 705. The position is fixed, and the unified coordinate value of the flexible truss 1 is obtained according to the stereo calibration of the first industrial camera 701 and the second industrial camera 702;

Step 4, when the flexible truss 1 vibrates, the first industrial camera 701 and the second industrial camera 702 perform image acquisition, and the data is input into the host computer 13 of the computer through the USB interface for real-time processing to obtain various vibration parameters of the flexible truss 1 , and in the The monitor 14 of the computer displays the 3D reconstructed picture.

To sum up, the present invention uses vision and acceleration sensors to detect flexible trusses. By combining the advantages of the two detection methods, it not only makes up for the shortcomings of insufficient image contrast in the case of insufficient light conditions in visual detection, but also demonstrates the visual The flexibility and good adaptability of the test can provide a more feasible solution in the case of insufficient laboratory conditions, and achieve the purpose of reducing the cost of the experiment and the difficulty of construction.

The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. Equivalent replacements or changes to the technical solutions and their inventive concepts all fall within the scope of protection of the invention patent.

Claims (10)

1. flexible truss vibration detection device, it is characterised in that：Including flexible truss, drive mechanism and vibration detection machine Structure, the drive mechanism are connect with flexible truss, for driving flexible truss to generate vibration, vibration detection mechanism packet Binocular vision system, workbench, acceleration transducer and processing equipment are included, the binocular vision system is arranged in workbench On, for detecting the index point region on flexible truss, the acceleration transducer is arranged on flexible truss, and the processing is set Back-up is not connect with binocular vision system, acceleration transducer.

2. flexible truss vibration detection device according to claim 1, it is characterised in that：The flexible truss has multilayer Structure, every layer of structure are connected with each other by ten six roots of sensation flexible links, and bottom structure is connect with drive mechanism.

3. flexible truss vibration detection device according to claim 2, it is characterised in that：Every layer of knot of the flexible truss In structure, ten six roots of sensation flexible links include eight horizontal flexibility bars, four vertical flexible links and four inclination flexible links, wherein four Horizontal flexibility bar and the setting symmetrical above and below of other four horizontal flexibility bars, four vertical flexible links are constituted with eight horizontal flexibility bars One cube, four tilt flexible link and are separately positioned on cubical four sides.

4. flexible truss vibration detection device according to claim 2, it is characterised in that：The bottom of the flexible truss In structure, two flexible links are connect with drive mechanism respectively, every piece flexible link of the flexible truss in addition to this two flexible links On be evenly distributed with multi-turn index point.

5. according to claim 2-4 any one of them flexible truss vibration detection devices, it is characterised in that：Described device is also wrapped Support platform is included, the bottom structure of the flexible truss is fixed in support platform.

6. flexible truss vibration detection device according to claim 1, it is characterised in that：The binocular vision system includes Two industrial cameras, a guide rail, two sliding blocks and two holders, described two sliding blocks are slidably arranged on guide rail, described to lead Rail is fixed on workbench, and two industrial cameras, two sliding blocks and two holders are to correspond, every industrial phase Machine is arranged on corresponding holder, and each holder is fixed on corresponding sliding block.

7. flexible truss vibration detection device according to claim 1, it is characterised in that：The vibratory drive mechanism includes Piezoelectric ceramics actuator and signal processing module, the piezoelectric ceramics actuator are connect with flexible truss, the signal processing mould Block is connect with electroceramics actuator.

8. flexible truss vibration detection device according to claim 7, it is characterised in that：The signal processing module includes Signal generator and power amplifier, the signal generator, power amplifier and piezoelectric ceramics actuator are sequentially connected.

9. flexible truss vibration detection device according to claim 1, it is characterised in that：The processing equipment includes calculating Machine, A/D capture cards and filter amplification circuit, the computer are connect with binocular vision system, and pass sequentially through A/D capture cards, Filter amplification circuit is connect with acceleration transducer.

10. the flexible truss method for detecting vibration based on any one of claim 1-9 described devices, it is characterised in that：The side Method includes：

Signal generator provides the sine wave signal of certain frequency and amplitude, arrives voltage amplification under the action of power amplifier A degree of driving voltage, to drive the control flexible truss vibration of piezoelectric ceramics actuator；

Acceleration transducer feeds back the vibration signal in tri- directions X, Y, Z, the effect of filter amplification circuit exclusive PCR frequency, The host that A/D capture cards convert analog signals into digital signal input computer is handled in real time；

Appropriately distance is arranged in two of binocular vision system between industrial camera and flexible truss, pass through the coarse adjustment knob of holder Angle adjustment appropriate, and the horizontal position by two industrial cameras of sliding block pair are carried out with two industrial cameras of vernier knob pair It sets and is fixed, the uniform coordinate value of flexible truss is obtained according to the stereo calibration of industrial camera；

Image Acquisition is carried out by industrial camera when flexible truss generates vibration, the host for entering data into computer is handled in real time Go out the various vibration parameters of flexible truss, and 3D reconstruction pictures are shown in the display of computer.