Free angle accurate collision test equipment for wearable equipment

Abstract

The invention discloses a free angle accurate collision test device for wearable equipment, which comprises a base, pendulum bob brackets are in threaded connection with two sides of the upper part of the base, a swing rod is hinged to the middle of each pendulum bob bracket, a motor frame is in threaded connection with the other end of each swing rod, and a motor is fixedly connected in each motor frame. The output end of the motor penetrates through the motor frame to be fixedly connected with a pendulum head, a mounting groove is formed in the pendulum head, a magnetic attraction unit and an IMU module are integrated in the mounting groove, a connecting frame is fixedly connected to the middle of the upper side of the pendulum support, and a first communicating hole right facing the pendulum head is formed in the lower portion of the other end of the connecting frame. A first pulley and a second pulley are rotationally connected to one end of the connecting frame and the interior of the first communicating hole respectively, a mounting groove is formed in one end of the head of the pendulum bob, a magnetic attraction unit IMU module is fixedly connected to the interior of the mounting groove, a software system is in threaded connection with one side of the pendulum bob support, and data support is provided for impact resistance design of products.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of experimental equipment, in particular to a free-angle precise collision test equipment for wearable devices. BACKGROUND

[0002] The conventional drop machine has significant limitations in simulating real scenes and testing performance: insufficient posture control accuracy, excessive angle adjustment error, difficulty in achieving continuous regulation of any angle, lack of dynamic rotation, tumbling drop scene reproduction capability for special-shaped products such as folding screen phones,

[0003] Angle control limitations: insufficient angle adjustment accuracy, conventional free drop machines can usually only test fixed angles and cannot achieve precise control of any angle; the dynamic drop process of posture simulation cannot be reproduced, the device can only achieve static release and cannot simulate the secondary drop after rotation, tumbling or collision that products may encounter in actual use; the conventional device only records basic parameters such as drop height and impact time, lacks dynamic monitoring of the impact process; irregular shape sample fixing problem, operation process relies on manual intervention. SUMMARY

[0004] The purpose of the present application is to provide a free-angle precise collision test equipment for wearable devices to solve the problems raised in the background art.

[0005] In order to achieve the above object, the present application provides the following technical scheme: A free angle precision collision test equipment for wearable devices, comprising a base, swing hammer supports are threadedly connected to the upper sides of the base, swing rods are hingedly connected to the middle parts of the swing hammer supports, motor frames are threadedly connected to the other ends of the swing rods, motors are fixedly connected inside the motor frames, swing hammer heads are fixedly connected to the output ends of the motors penetrating the motor frames, installation grooves are formed in the interiors of the swing hammer heads, magnetic attraction units and IMU modules are integrated in the installation grooves, connecting frames are fixedly connected to the upper middle parts of the swing hammer supports, first communication holes are formed in the other ends of the connecting frames and face the swing hammer heads, first pulleys and second pulleys are rotatably connected to the connecting frames and the first communication holes respectively, supports are fixedly connected to the upper parts of the swing hammer supports, a stepping motor is fixedly connected to the upper parts of the supports, an output shaft is fixedly connected to the power end of the stepping motor, a synchronous belt is fixedly connected to the outer side of the output shaft, the synchronous belt passes the first pulley and the second pulley in sequence, a hanging ring is fixedly connected to the upper side of the swing hammer head and matches the synchronous belt, an installation groove is formed in one end of the swing hammer head, a magnetic attraction unit IMU module is fixedly connected in the installation groove, a three-axis gyroscope and a three-axis accelerometer are contained in the interior of the IMU module, a software system is threadedly connected to one side of the swing hammer support, a main control unit is integrated in the interior of the software system, the main control unit is configured to collect acceleration original data through an ADC interface, a motor drive program is developed by the main control unit, and the motor drive program controls the forward and reverse rotation and rotation angle of the stepping motor through the software end to send PWM signals or pulse instructions.

[0006] Preferably, a limiting sensor is threadedly connected to one side of the motor frame.

[0007] Preferably, an insertion block is fixedly connected to one side of the motor frame, a plurality of groups of internal thread holes are formed in the upper part of the insertion block, an insertion hole matched with the insertion block is formed in one side of the swing rod, and external thread holes matched with the internal thread holes are formed in one side of the upper part of the swing rod.

[0008] Preferably, an installation frame is fixedly connected to the upper middle part of the connecting frame, two groups of lifting rods are slidingly connected in the interior of the installation frame, a connecting plate is fixedly connected to the upper part of the lifting rod, springs are fixedly connected between the connecting plate and the installation frame, the springs are sleeved on the outer side of the lifting rod, bent frames are fixedly connected to the lower part of the lifting rod, tension adjusting wheels are rotatably connected between the bent frames, and a second communication hole facing the tension adjusting wheels is formed in the lower middle part of the connecting frame.

[0009] Preferably, the IMU module is connected with the master control unit through an SPI / IC interface, the master control unit develops a data fusion algorithm based on Kalman filtering to filter and optimize the original angle data collected by the IMU, the master control unit synchronously develops a software end D attitude reconstruction module, and the D attitude reconstruction module converts real-time angle data into a three-dimensional model animation through OpenGL or WebGL technology.

[0010] Preferably, the magnetic attraction unit comprises a magnetic attraction circuit and a demagnetization circuit, the magnetic attraction circuit adopts alternating current power to drive an electromagnetic coil, the master control unit adopts a relay or a MOS tube to control current on-off, the magnetic attraction circuit uses electromagnetic force to attract the light iron sheet of the measured object, the demagnetization circuit develops a composite demagnetization circuit with a reverse small current and a parallel resistor, and the demagnetization circuit calibrates demagnetization parameters through an oscilloscope.

[0011] Preferably, the master control unit develops a real-time data transmission protocol, the data transmission protocol synchronously sends acceleration data to the software end, and an acceleration threshold analysis module is designed in the software system.

[0012] Preferably, the swing rod is made of light and high-strength material.

[0013] Preferably, an encoder is integrated at the output end of the stepping motor, an infrared range finder is threadedly connected to the lower part of one end of the connecting frame, and a PID closed-loop control algorithm is designed in the software system.

[0014] Preferably, a height information module is designed in the control software of the software system.

[0015] Compared with the prior art, the application has the following beneficial effects:

[0016] 1. The application realizes real-time collection of collision instantaneous acceleration data by integrating an IMU three-axis accelerometer, adopts a free pendulum structure, cooperates with non-contact magnetic attraction instantaneous release, adjusts the initial height and angle through IMU feedback, corrects the acceleration trajectory, realizes acceleration quantization monitoring, generates an acceleration-time curve, supports quantitative analysis of collision strength, reduces acceleration fluctuation from ± 20% to ≤ ± 5%, ensures test repeatability, traces the acceleration change process, and provides data support for product impact resistance design.

[0017] 2. The application also adopts non-contact magnetic attraction technology: alternating current generates magnetism, and the light iron sheet attached to the measured object is fixed.

[0018] The motor is adjusted at an arbitrary angle, the initial position is adjusted according to the gravity center offset of the special-shaped part, sliding is avoided, all special-shaped measured objects such as circles, curved surfaces and folded surfaces are adapted without the need of customizing special fixtures, the measured object is fixed without mechanical contact, there is no angle drift when the measured object is released, the deviation is ≤ ± 0.1°, the light iron sheet does not affect the falling posture, and the test authenticity is ensured.

[0019] 3. The application also eliminates residual magnetic interference by inputting a small reverse current for a short time after power-off, consuming residual current through a small parallel resistance, quickly demagnetizing, demagnetization time ≤10 ms, completely eliminating residual magnetic interference, the measured object is released instantaneously, there is no attitude deviation caused by dragging force, the release delay is reduced from 50 ms to ≤10 ms, meeting the dynamic drop requirement;

[0020] 4. The application also adopts a stepper motor to drive a traction mechanism, and realizes high-precision traction of the pendulum through pulse driving, and cooperates with an encoder closed-loop control;

[0021] The software UI interface is integrated with high-parameter programmable function, supports direct input of any target height, and displays the current pendulum height (precision 0.01 mm) in real time, without manual review, the height control precision is improved to ≤±0.1 mm, solves the problem of centimeter-level error of traditional equipment, supports arbitrary height customization, covers multiple scene test requirements, reduces the time consumption of single height adjustment, and improves the efficiency;

[0022] 5. The application also realizes continuous coarse adjustment of the initial position of the measured object through a small-angle fine adjustment mechanism of the motor in a 360° range, integrates an IMU (three-axis gyroscope cooperates with three-axis accelerometer), collects dynamic angle data in real time, cooperates with software 3D space to reproduce the attitude, adopts a “coarse adjustment + fine adjustment” dual mode, dynamically corrects the angle through IMU feedback, and expands the angle adjustment range to any angle, breaking the fixed angle limit;

[0023] The angle control precision is improved to ≤±0.1°, far exceeding the ±5 error of traditional equipment, real-time monitoring of attitude change avoids the problem that the deviation cannot be traced back afterwards.

[0024]

[0025] The angle control precision is improved to ≤±0.1°, far exceeding the ±5 error of traditional equipment, real-time monitoring of attitude change avoids the problem that the deviation cannot be traced back afterwards. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the application;

[0027] Figure 2 It is a sectional view of the three-dimensional structure of the application;

[0028] Figure 3 It is an enlarged view of the structure at A of the application;

[0029] Figure 4 It is an enlarged view of the structure at B of the application.

[0030] ​In the figure: 1, base; 2, pendulum support; 3, pendulum rod; 4, insertion hole; 5, insertion block; 6, internal threaded hole; 7, external threaded hole; 8, motor frame; 9, motor; 10, pendulum head; 11, mounting groove; 12, hanging ring; 13, connecting frame; 14, first pulley; 15, first communication hole; 16, second pulley; 17, support; 18, stepping motor; 19, output shaft; 20, synchronous belt; 21, mounting frame; 22, lifting rod; 23, connecting plate; 24, spring; 25, bent frame; 26, tension adjusting wheel; 27, second communication hole; 28, software system; 29, limit sensor; 30, infrared range finder DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0032] Please refer to Figures 1-4The application provides a technical scheme: a free-angle precise collision test device for a wearable device, which comprises a base 1, swing hammer supports 2 threadedly connected to the upper part of the base 1, swing rods 3 hingedly connected to the middle part of the swing hammer supports 2, the swing rods 3 being capable of freely swinging around the hinges, the swing rods 3 transmitting gravitational potential energy and colliding with a measured piece when swinging downward, motor frames 8 threadedly connected to the other ends of the swing rods 3, motors 9 flange-mounted in the motor frames 8, swing hammer heads 10 connected to the output ends of the motors 9 through shaft couplings penetrating the motor frames 8, installation grooves 11 formed in the swing hammer heads 10, magnetic attraction units and IMU modules integrated in the installation grooves 11, the magnetic attraction units and the IMU modules ensuring stable adsorption of the measured piece and accurate collection of dynamic data, connecting frames 13 threadedly connected to the upper middle parts of the swing hammer supports 2, first communication holes 15 formed in the other ends of the connecting frames 13 and facing the swing hammer heads 10, first pulleys 14 and second pulleys 16 rotatably installed in one end of the connecting frames 13 and the inner part of the first communication holes 15 respectively, supports 17 threadedly connected to the upper parts of the swing hammer supports 2, step motors 18 flange-mounted on the upper parts of the supports 17, output shafts 19 connected to the power ends of the step motors 18 through shaft couplings, synchronous belts 20 connected to the outer sides of the output shafts 19, the pulley sets changing the directions of the synchronous belts 20 and ensuring that the traction mechanisms vertically pull the swing hammers, the synchronous belts 20 sequentially passing through the first pulleys 14 and the second pulleys 16, eye rings 12 fixedly connected to the upper sides of the swing hammer heads 10 and matched with the synchronous belts 20, the other ends of the synchronous belts 20 being connected to the eye rings 12, the installation grooves 11 being formed in one end of the swing hammer heads 10 and threadedly connected with the magnetic attraction units and the IMU modules, the IMU modules containing three-axis gyroscopes and three-axis accelerometers, software systems 28 threadedly connected to one side of the swing hammer supports 2, main control units integrated in the software systems 28, the main control units being configured to collect acceleration original data through ADC interfaces, the IMU modules being integrated in the angle control, the three-axis accelerometer channels of the IMU modules being mainly used, appropriate ranges (such as ±16g, suitable for collision instantaneous high acceleration scenes) being configured, the sampling rate being improved to more than 500Hz to capture instantaneous peak values, motor drive programs being developed by the main control units, the motor drive programs sending PWM signals or pulse instructions through software ends to control the step motors 18 to reversely rotate and rotate angles, and the initial attitude being coarsely adjusted and calibrated to lay a foundation for subsequent fine adjustment.

[0033] Limiting sensors 29 are threadedly connected to one side of the motor frames 8 to avoid over-adjustment of the motors 9 and ensure that the adjustment range is controllable.

[0034] The motor frame 8 is fixedly connected with the insertion block 5 on one side through welding, a plurality of groups of internal thread holes 6 are formed in the upper portion of the insertion block 5, an insertion hole 4 matched with the insertion block 5 is formed in one side of the pendulum rod 3, an external thread hole 7 matched with the internal thread hole 6 is formed in one side of the upper portion of the pendulum rod 3, the insertion block 5 is inserted into the insertion hole 4, the internal thread hole 6 and the external thread hole 7 are threadedly connected through a screw rod, the connection between the pendulum head 10 and the pendulum rod 3 is realized, and the length of the pendulum head 10 is adjustable by changing the insertion depth of the insertion block 5, so that different drop height requirements can be met.

[0035] The mounting frame 21 is threadedly connected to the upper portion of the middle side of the connecting frame 13, two groups of lifting rods 22 are slidingly mounted in the mounting frame 21 in a clearance fit, the connecting plate 23 is fixedly connected to the upper portion of the lifting rod 22 through welding, the spring 24 is fixedly connected between the connecting plate 23 and the mounting frame 21, the spring 24 is sleeved outside the lifting rod 22 to avoid deviation of the spring 24, the bent frame 25 is fixedly connected to the lower portion of the lifting rod 22 through welding, the tension adjusting wheel 26 is rotatably connected between the bent frames 25, the spring 24 drives the tension adjusting wheel 26 to press the upper portion of the synchronous belt 20 by pulling the connecting plate 23, the tension adjusting wheel 26 avoids slippage of the synchronous belt 20, and the height control precision is ensured, the second communication hole 27 is formed in the lower portion of the middle side of the connecting frame 13 and faces the tension adjusting wheel 26, and the synchronous belt 20 is prevented from contacting the connecting frame 13 when being taut;

[0036] The IMU module is connected with the master control unit through an SPI / I2C interface, the master control unit develops a data fusion algorithm based on Kalman filtering to filter and optimize original angle data collected by the IMU, and a software 3D attitude reconstruction module is simultaneously developed by the master control unit, the 3D attitude reconstruction module converts real-time angle data into a three-dimensional model animation through OpenGL or WebGL technology.

[0037] The magnetic attraction unit includes a magnetic attraction circuit and a demagnetization circuit, the magnetic attraction circuit drives an electromagnetic coil by using an alternating current power supply, the master control unit controls current on-off by using a relay or a MOS tube, the magnetic attraction circuit uses electromagnetic force to attract a light iron sheet of a measured object, the demagnetization circuit develops a composite demagnetization circuit by using a reverse small current and a parallel resistance, when a release instruction is triggered, the main current is first cut off, then a reverse small current is instantaneously input through a thyristor, and a parallel resistance is used to quickly consume residual current of the coil, so that a magnetic hysteresis effect is eliminated, and the demagnetization circuit is calibrated by using an oscilloscope to release instantaneity;

[0038] The master control unit develops a real-time data transmission protocol, the data transmission protocol synchronously sends acceleration data to a software end, an acceleration threshold analysis module is designed in the software system 28, self-defined threshold setting is supported, when acceleration exceeding the threshold is monitored, a key time point data is automatically marked and stored, and support is provided for collision intensity analysis;

[0039] The pendulum rod 3 is made of light and high-strength material, the air resistance in the process of the pendulum head 10 swinging down is reduced, the hinge structure is designed through a precision bearing, mechanical friction is reduced, the pendulum length parameter is fixed, and the trajectory consistency of the conversion of gravitational potential energy into kinetic energy is ensured.

[0040] The stepping motor 18 is matched with the synchronous belt 20 traction mechanism to establish a "pulse number-displacement amount" mapping model, the output end of the stepping motor 18 is integrated with an encoder, the infrared range finder 30 is threadedly connected to the lower part of one end of the frame 13, the actual height data of the pendulum is collected in real time, the deviation between the actual height and the set value is taken as input in the PID closed-loop control algorithm designed in the software system 28, the pulse output of the stepping motor 18 is dynamically adjusted, and it is ensured that the height deviation is controlled within ±0.1 mm.

[0041] The software system 28 designs a height information module in the control software, contains interactive elements such as a "target height input box", a "current height display area" and an "adjustment progress bar", supports the user to directly input a value and refresh the current height in real time, the data is derived from sensor feedback, the height data is linked with the angle and acceleration modules, a "height, angle and acceleration" three-dimensional parameter panel is formed in the software, and the theoretical acceleration curve is automatically updated when the height is adjusted, thereby providing a reference for test parameter presetting.

[0042] Working principle: when the present application is used, the equipment is initialized: the power supply of the equipment is turned on, and the equipment is waited for self-checking to be completed, in the self-checking process, the equipment will automatically check the state of each sensor and actuating mechanism, the initial parameters of the equipment are set through the software system 28, such as the initial height and angle of the pendulum, the IMU is initialized and calibrated by using an IMU data fusion algorithm (Kalman filtering), and the accuracy of the angle and acceleration data is ensured.

[0043] Height setting: according to the test requirement, the set height at which the pendulum needs to rise is input in the software system 28, the stepping motor 18 receives the pulse signal of the main control unit, rotates in the positive direction and drives the pendulum to rise through the synchronous belt 20, in this process, the actual height of the pendulum is fed back in real time by the encoder, compared with the set height, closed-loop calibration is realized, and the pendulum reaches the set height.

[0044] Angle adjustment: the pendulum is adjusted to a rough angle range through the motor 9 driving the pendulum head 10, the angle deviation is fed back in real time by the IMU, the motor 9 is driven to fine adjust according to the deviation value by the main control unit, closed loop of "motor 9 coarse adjustment + IMU fine adjustment" is realized, and the pendulum reaches the required accurate angle.

[0045] Measured piece installation: the light iron sheet of the measured piece is arranged to face the non-contact magnetic suction unit of the pendulum head 10, the main control unit outputs alternating current, the electromagnetic coil generates a magnetic field, and the measured piece is adsorbed.

[0046] Release pendulum: when all the preparations are completed and confirmed, the main control unit cuts off the main current of the electromagnetic coil, triggers a small reverse current and resistance discharge at the same time, quickly consumes the residual current, realizes instantaneous demagnetization, and makes the pendulum freely swing down;

[0047] Data acquisition and processing: during the pendulum swing and collision process, the IMU collects angle and acceleration data in real time, processes the collected data through the IMU data fusion algorithm (Kalman filter), and the software system 28 realizes 3D attitude reconstruction and data linkage, records and analyzes the dynamic data of the pendulum and the collision of the measured object.

[0048] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0049] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A free-angle precision collision testing device for wearable devices, comprising a base (1), characterized in that: The base (1) has a pendulum bracket (2) threaded on both sides of its upper part. A pendulum rod (3) is hinged in the middle of the pendulum bracket (2). A motor frame (8) is threaded on the other end of the pendulum rod (3). A motor (9) is fixedly connected inside the motor frame (8). The output end of the motor (9) passes through the motor frame (8) and is fixedly connected to the pendulum head (10). An installation groove (11) is provided inside the pendulum head (10). A magnetic suction unit and an IMU module are integrated in the installation groove (11). A connecting frame (13) is fixedly connected to the middle of the upper side of the pendulum bracket (2). A first connecting hole (15) is provided at the lower part of the other end of the connecting frame (13) facing the pendulum head (10). A first pulley (14) and a second pulley (16) are rotatably connected to one end of the connecting frame (13) and the first connecting hole (15), respectively. A bracket (17) is fixedly connected to the upper part of the frame (2). A stepper motor (18) is fixedly connected to the upper part of the bracket (17). An output shaft (19) is fixedly connected to the power end of the stepper motor (18). A synchronous belt (20) is fixedly connected to the outside of the output shaft (19). The synchronous belt (20) passes around the first pulley (14) and the second pulley (16) in sequence. A hanging ring (12) that matches the synchronous belt (20) is fixedly connected to the upper side of the pendulum head (10). A mounting groove (11) is opened at one end of the pendulum head (10). A magnetic suction unit and an IMU module are fixedly connected in the mounting groove (11). The IMU module contains a three-axis gyroscope and a three-axis accelerometer. A software system (28) is threadedly connected to one side of the pendulum bracket (2). The software system (28) integrates a main control unit. The main control unit is equipped with an ADC. The interface collects raw acceleration data. The main control unit develops a motor driver program. The motor driver program sends PWM signals or pulse commands through the software to control the forward and reverse rotation and rotation angle of the stepper motor (18).

2. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: A limit sensor (29) is threadedly connected to one side of the motor frame (8).

3. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: An insertion block (5) is fixedly connected to one side of the motor frame (8). Several sets of internal threaded holes (6) are opened on the upper part of the insertion block (5). An insertion hole (4) that matches the insertion block (5) is opened on one side of the swing rod (3). An external threaded hole (7) that matches the internal threaded hole (6) is opened on one side of the upper part of the swing rod (3).

4. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The upper part of the middle side of the connecting frame (13) is fixedly connected to the mounting frame (21). Two sets of lifting rods (22) are slidably connected inside the mounting frame (21). The upper part of the lifting rod (22) is fixedly connected to the connecting plate (23). A spring (24) is fixedly connected between the connecting plate (23) and the mounting frame (21). The spring (24) is sleeved on the outside of the lifting rod (22). The lower part of the lifting rod (22) is fixedly connected to the curved frame (25). The curved frame (25) is rotatably connected to the tension adjusting wheel (26). The lower part of the middle side of the connecting frame (13) is provided with a second connecting hole (27) facing the tension adjusting wheel (26).

5. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The IMU module is connected to the main control unit via an SPI / I2C interface. The main control unit develops a data fusion algorithm based on Kalman filtering to filter and optimize the raw angle data acquired by the IMU. The main control unit also develops a software-based 3D attitude reproduction module, which uses OpenGL or WebGL technology to convert real-time angle data into 3D model animation.

6. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The magnetic attraction unit includes a magnetic attraction circuit and a demagnetizing circuit. The magnetic attraction circuit uses an AC power supply to drive an electromagnetic coil. The main control unit uses a relay or MOSFET to control the current flow. The magnetic attraction circuit uses electromagnetic force to attract the lightweight iron sheet of the test piece. The demagnetizing circuit uses a reverse small current combined with a parallel resistor to create a composite demagnetizing circuit. The demagnetizing circuit uses an oscilloscope to calibrate the demagnetizing parameters.

7. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The main control unit develops a real-time data transmission protocol, which synchronously sends acceleration data to the software. The software system (28) is designed with an acceleration threshold analysis module.

8. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The swing arm (3) is made of lightweight and high-strength material.

9. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The stepper motor (18) has an integrated encoder at its output end, and an infrared rangefinder (30) is threaded onto one end of the connecting frame (13). The software system (28) is designed with a PID closed-loop control algorithm.

10. The free-angle precision collision testing device for wearable devices according to claim 1, characterized in that: The software system (28) incorporates a height information module within the control software.

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