An IMU tray assembly and an IMU Euler angle testing device

Abstract

This application provides an IMU tray assembly and an IMU Euler angle testing device, relating to the field of testing equipment technology. The IMU tray assembly includes a test tray, multiple IMU test carrier boards, and a control motherboard. The test tray is used for detachably mounting IMU circuit boards. Multiple IMU test carrier boards are distributed on the test tray, and each IMU test carrier board is used for electrical connection to at least one IMU circuit board. The control motherboard is electrically connected to each IMU test carrier board, and is used for centralized control of the multiple IMU test carrier boards and data interaction with each IMU circuit board. This application enables synchronous attitude excitation and data acquisition of multiple IMUs, improving testing efficiency and result consistency.

Description

Technical Field

[0001] This application relates to the field of testing equipment technology, and in particular to an IMU tray assembly and an IMU Euler angle testing device. Background Technology

[0002] In the production and shipping of Inertial Measurement Units (IMUs), to ensure the accuracy and stability of their attitude measurement output, their Euler angle outputs typically require systematic testing and calibration. However, current testing methods are still primarily based on manual operation of individual units, with the testing process relying on manual intervention, resulting in low overall efficiency and difficulty in adapting to mass production pace. Furthermore, existing testing methods struggle to apply consistent and controllable attitude excitation to multiple IMUs simultaneously, lacking the ability to synchronously acquire and compare multi-channel data in real time, thus limiting the consistency and comparability of test results. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide an IMU tray assembly and an IMU Euler angle testing device, which can realize synchronous attitude excitation and data acquisition of multiple IMUs, thereby improving testing efficiency and result consistency.

[0004] This application provides the following technical solution: In a first aspect, embodiments of this application provide an IMU tray assembly, the IMU tray assembly comprising: Test tray for removably mounting IMU circuit boards; Multiple IMU test carrier boards are distributed on the test tray, and the IMU test carrier boards are used to electrically connect to at least one of the IMU circuit boards; A control motherboard is electrically connected to each of the IMU test carrier boards. The control motherboard is used to control the multiple IMU test carrier boards and to interact with each of the IMU circuit boards.

[0005] In some embodiments of the first aspect, one of the IMU test carrier board and the IMU circuit board has an electrical plug and the other has an electrical socket, the electrical plug and the electrical socket being pluggable and pluggable to form a pluggable electrical connection and mechanical connection between the IMU test carrier board and the IMU circuit board.

[0006] In some embodiments of the first aspect, the IMU tray assembly further includes: The test power supply is electrically connected to the multiple IMU test carrier boards and the control motherboard, respectively.

[0007] Secondly, embodiments of this application also provide an IMU Euler angle testing device, comprising: The IMU tray assembly as described in any of the above embodiments; A first rotational detection assembly includes a first rotational drive component for detachably connecting the test tray. The first rotational drive component has a first rotational axis and is used to drive the test tray to rotate around the first rotational axis, wherein the first rotational axis is vertically arranged. And / or, a second rotational detection assembly, the second rotational detection assembly including a second rotational drive member for detachably connecting the test tray, the second rotational drive member having a second rotational axis for driving the test tray to rotate about the second rotational axis, the second rotational axis being horizontally positioned.

[0008] In some embodiments of the second aspect, if the IMU Euler angle testing device includes the first rotation detection component, the first rotation detection component further includes: The first pallet adapter is connected to the bottom of the test pallet, and the first pallet adapter and the power output end of the first rotary drive component form a plug-in transmission fit.

[0009] In some embodiments of the second aspect, the first rotation detection component further includes: The first rotation limiting member has two opposing first limiting ends, and the first rotation limiting member is located between the two first limiting ends to limit the rotation stroke of the first pallet adapter.

[0010] In some embodiments of the second aspect, the second rotation detection component further includes: The second tray adapter is connected to the power output end of the second rotary drive and can be detachably connected to either the first side or the second side perpendicular to each other on the test tray.

[0011] In some embodiments of the second aspect, the second rotation detection component further includes: The second rotation limiting member has two opposing second limiting ends, and the second rotation limiting member is located between the two second limiting ends to limit the rotation stroke of the second tray adapter.

[0012] In some embodiments of the second aspect, the second tray adapter includes: A connecting seat has a slot, and the first and second sides of the test tray can be selectively inserted into the slot; wherein, in the insertion direction of the test tray, the slot has a positioning groove wall, which is used to abut and position itself against the first or second side of the test tray. A clamping block and an adjusting part are provided. The adjusting part is disposed on the connecting seat and connected to the clamping block. The adjusting part is used to adjust the position of the clamping block so as to press the side of the test tray against the groove wall opposite to the clamping block on the slot.

[0013] In some embodiments of the second aspect, the second rotation detection component further includes: A support member and a pair of second adapter members; one of which is connected to the power output end of the second rotary drive member, and the other is rotatably mounted on the support member. The pair of second adapter members are arranged opposite to each other and form a coaxial rotational arrangement. The pair of second adapter members are used to detachably connect to the opposite two sides of the test tray, respectively.

[0014] The embodiments of this application have the following advantages: This application provides an IMU tray assembly in which multiple IMU circuit boards to be tested are detachably mounted on individual IMU test carriers. The test tray serves as a unified mechanical base, ensuring the relative physical fixation of all IMUs under test. The entire test tray is placed on an external drive device (such as a high-precision turntable or multi-axis motion platform) or manually controlled. When the drive device rotates, tilts, or otherwise moves the test tray, all IMUs on the tray will synchronously undergo identical attitude changes (i.e., attitude excitation). This effectively provides a unified and controllable dynamic testing environment for all IMUs under test. The control board provides centralized power and command control to all IMU test carriers via electrical connections. It synchronously sends start test, stop test, and reset commands to all IMU circuit boards. During the movement of the external drive device, all IMUs begin measuring their own angular velocity and acceleration, and calculate real-time Euler angles (pitch, roll, yaw). These Euler angle data are uploaded to the control board in real-time and synchronously via the IMU test carriers. The control motherboard acts as a unified data hub, ensuring that data from different IMUs are strictly synchronized in terms of timestamps. The control motherboard initially integrates the synchronization test data (mainly Euler angle outputs) collected from all IMUs, and then uploads it to an external host computer or data analysis system through a unified interface (such as Ethernet, USB, or serial port).

[0015] Therefore, compared to traditional single-piece manual testing methods, this application significantly improves testing efficiency, enabling batch parallel testing. Multiple IMUs can be calibrated in a single test cycle, completely changing the traditional manual testing mode and greatly shortening the testing time per unit product, perfectly adapting to the needs of mass production. Furthermore, it ensures high consistency and comparability of test results. Since all IMUs experience the exact same attitude excitation trajectory during testing, errors caused by inconsistent excitation in multiple tests are eliminated. This makes the test data between different IMUs highly comparable, facilitating performance consistency screening and batch quality assessment. Additionally, through centralized control of the motherboard, hard synchronization of data acquisition from multiple IMUs is achieved. This avoids time deviations caused by time-sharing acquisition or manual operation, providing a reliable data foundation for subsequent accurate data comparison, error analysis, and sensor fusion algorithm verification. Moreover, the entire testing process, from the start of excitation to data acquisition, is completed automatically by the equipment, minimizing manual operation. This not only reduces the labor intensity and skill requirements of operators but also effectively avoids testing errors introduced by human error, improving the standardization and repeatability of the testing process. Integrating multiple test carriers, power supply, and communication lines into a single tray assembly simplifies and enhances the reliability of test system connectivity and management. It also facilitates rapid installation, removal, and material changeover on the production line, improving the smoothness of the production testing process.

[0016] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This illustration shows a schematic diagram of the structure of an IMU tray assembly provided in an embodiment of this application from one perspective; Figure 2 This illustration shows a schematic diagram of the structure of a first rotation detection component provided in an embodiment of this application from one perspective; Figure 3 This illustration shows a structural schematic diagram from another perspective of a first rotation detection component provided in an embodiment of this application; Figure 4 This illustration shows a schematic diagram of the assembly structure of a first adapter and a test tray from one perspective, according to an embodiment of this application. Figure 5 This illustration shows a schematic diagram of the structure of a second rotation detection component provided in an embodiment of this application from one perspective. Figure 6 This illustration shows a structural schematic diagram from another perspective of a second rotation detection component provided in an embodiment of this application; Figure 7 This illustration shows a structural schematic diagram from another perspective of a second rotation detection component provided in an embodiment of this application.

[0019] Explanation of key component symbols: 100 - IMU tray assembly; 110 - Test tray; 111 - First side; 112 - Second side; 120 - IMU test carrier board; 130 - Control motherboard; 140 - Test power supply; 150 - Connector; 200 - First rotation detection component; 210 - First tray adapter; 211 - First limiting groove; 220 - First rotation drive component; 230 - First rotation limiting component; 300 - Second rotation detection component; 310 - Second rotation drive component; 320 - Second tray adapter component; 321 - Connecting seat; 322 - Adjustment part; 323 - Clamping block; 324 - Second limiting groove; 325 - Slot; 330 - Support component; 340 - Second rotation limiting component. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] In related technologies, during the production and delivery of IMUs, to ensure the accuracy and stability of their attitude measurement output, it is usually necessary to systematically test and calibrate their Euler angle output. However, the currently commonly used testing methods are still mainly based on single-unit manual operation, with the testing process relying on manual intervention, resulting in low overall efficiency and difficulty in adapting to the pace of mass production. At the same time, existing testing methods are unable to apply consistent and controllable attitude excitation to multiple IMUs simultaneously, lacking the ability to synchronously acquire and compare multi-channel data in real time, which limits the consistency and comparability of test results.

[0026] like Figure 1 As shown, to solve the above-mentioned technical problems, this application provides an IMU tray assembly 100. The IMU tray assembly 100 includes a test tray 110, multiple IMU test carrier boards 120, and a control main board 130. The test tray 110 is used for detachably mounting IMU circuit boards. The multiple IMU test carrier boards 120 are distributed on the test tray 110 and are used for electrical connection with at least one IMU circuit board. The control main board 130 is electrically connected to each IMU test carrier board 120 respectively, and is used to control the multiple IMU test carrier boards 120 and to perform data interaction with each IMU circuit board respectively.

[0027] In these embodiments, this application provides an IMU tray assembly 100 for synchronously testing and calibrating the attitude output performance of multiple inertial measurement unit (IMU) circuit boards in a mass production environment. The IMU tray assembly 100 mainly includes a test tray 110, multiple IMU test carrier boards 120, and a control main board 130.

[0028] For example, the test tray 110 is made of a rigid non-magnetic material (such as aluminum alloy or high-strength engineering plastic) and has an overall rectangular flat plate structure.

[0029] For example, the upper surface of the test tray 110 has multiple mounting areas for positioning and securing the IMU circuit board. Each mounting area includes: Precision positioning pins are used to mate with positioning holes on the IMU circuit board to ensure the repeatability of the positional accuracy for each installation. Quick clamps (such as spring clips or pneumatic chucks) are used to firmly press the IMU circuit board onto the test tray 110, enabling detachable installation and facilitating quick replacement of the circuit board under test.

[0030] The test tray 110 enables multiple IMU circuit boards to be arranged in parallel with precision and stability, providing a physical basis for subsequent synchronous attitude excitation.

[0031] Multiple IMU test carrier boards 120 are distributed on the test tray 110. Each IMU test carrier board 120 is detachably fixed to a preset position on the test tray 110 by screws or clips. Each IMU test carrier board 120 corresponds to one or more IMU circuit boards.

[0032] Each IMU test carrier board 120 integrates: Electrical connection interfaces: such as gold finger sockets or FPC ribbon cable interfaces, are used to establish a reliable electrical connection with the IMU circuit board below to transmit power, clock signals and data; Signal conditioning circuit: including filters and level shifters, used to perform preliminary processing on the received raw IMU data to improve signal quality; Local microcontroller: such as ARM Cortex-M series MCU, used to manage data reading, preliminary verification and buffering of the IMU circuit board on this carrier board.

[0033] In one implementation, each IMU test carrier 120 is responsible for electrical connection to two IMU circuit boards, thereby enabling up to multiple IMU circuit boards to be tested simultaneously on a single test tray 110, significantly improving test throughput.

[0034] The control motherboard 130 is fixed to one end of the test tray 110 or is separately disposed inside the housing of the tray assembly. The control motherboard 130 is electrically connected to the local microcontroller on each IMU test carrier board 120 via a high-speed communication bus.

[0035] For example, the control motherboard 130 includes a main processor, memory, and a communication module. Its main functions include: The main processor sends unified control commands such as start, stop, and sampling frequency settings to all IMU test carrier boards 120 to ensure that the test start time of all channels is synchronized; It receives Euler angle data streams (including pitch angle, roll angle, and yaw angle) from each IMU test carrier board 120 in real time and uploads them to an external host computer for storage and analysis via the communication module.

[0036] In use, the operator places the IMU circuit boards to be tested one by one into the mounting area of ​​the test tray 110 and secures them using positioning pins and quick clamps. Subsequently, the IMU circuit boards are connected to the corresponding IMU test carrier board 120 via electrical connection interfaces. After the control motherboard 130 is powered on, it sends initialization commands to all IMU test carrier boards 120. When an external test platform (such as a six-DOF turntable) or manual control applies a predetermined attitude change (such as sinusoidal oscillation) to the entire tray assembly, the control motherboard 130 synchronously starts data acquisition from all channels, acquiring the Euler angle output of each IMU circuit board in real time and transmitting it centrally.

[0037] Therefore, this application improves testing efficiency, allowing multiple IMU circuit boards to be tested simultaneously in a single run, significantly increasing efficiency compared to manual testing of individual components. Furthermore, all IMUs are subjected to the same mechanical stimulus on the same tray, and data acquisition is strictly synchronized, eliminating comparison errors caused by stimulus differences and time asynchrony. Additionally, the standardized tray design facilitates integration with automated production lines, reducing manual intervention and lowering the risk of human error.

[0038] In some embodiments, one of the IMU test carrier board 120 and the IMU circuit board has an electrical plug and the other has an electrical socket. The electrical plug and the electrical socket are pluggable and removable, so that the IMU test carrier board 120 and the IMU circuit board form a pluggable electrical connection and a mechanical connection.

[0039] In these embodiments, the IMU test carrier 120 and the IMU circuit board are quickly connected via pluggable electrical and mechanical connections.

[0040] Specifically, the IMU test carrier board 120 is provided with electrical plugs (e.g., a Pogo Pin probe array or a through-hole connector), while the corresponding IMU circuit board is provided with matching electrical sockets (e.g., a pad array or a slot connector). When the electrical plugs and sockets automatically engage, a reliable electrical path is formed, and this engagement action also helps to achieve precise positioning and mechanical fixation of the IMU circuit board in the vertical direction.

[0041] In another alternative implementation, the electrical plug can be placed on the IMU circuit board, while the electrical socket can be placed on the IMU test carrier board 120, which can also achieve plug-in and plug-out interaction.

[0042] This pluggable structure eliminates the need for ribbon cables or additional connectors, enabling immediate connection upon placement and significantly reducing clamping time.

[0043] like Figure 1 As shown, in some embodiments, the IMU tray assembly 100 further includes a test power supply 140, which is electrically connected to a plurality of IMU test carrier boards 120 and a control motherboard 130, respectively.

[0044] In these embodiments, the test power supply 140 is electrically connected to and supplies power to the multiple IMU test carrier boards 120 and the control motherboard 130, respectively.

[0045] Specifically, the test power supply 140 can be a standalone DC regulated power supply unit or a power module integrated within the tray assembly. For example, the test power supply 140 has multiple voltage outputs, capable of providing various voltage levels (e.g., 3.3V, 5V, 12V, etc.) to meet the power supply requirements of different types of IMU circuit boards and IMU test carrier boards 120.

[0046] In one specific embodiment, the test power supply 140 can be connected to each IMU test carrier board 120 and the control mainboard 130 via a set of dedicated cables. Optionally, these cables are shielded to reduce the impact of external electromagnetic interference on the test results.

[0047] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, in some embodiments, this application also provides an IMU Euler angle testing device, which includes an IMU tray assembly 100, a first rotation detection assembly 200 and / or a second rotation detection assembly 300.

[0048] The first rotation detection assembly 200 includes a first rotation drive 220, which is used to detachably connect to the test tray 110. The first rotation drive 220 has a first rotation axis and is used to drive the test tray 110 to rotate around the first rotation axis. The first rotation axis is vertically arranged. The second rotation detection assembly 300 includes a second rotation drive 310, which is used to detachably connect to the test tray 110. The second rotation drive 310 has a second rotation axis and is used to drive the test tray 110 to rotate around the second rotation axis, which is horizontally set.

[0049] In these embodiments, the first rotation detection component 200 is used to simulate attitude changes in the vertical direction (Z-axis) and includes a first rotation drive 220.

[0050] For example, the first rotary drive 220 is a high-precision servo motor or stepper motor, mounted on a support frame, and its output shaft is connected to the bottom of the test tray 110 via a flange or other quick-release connector. The first rotary drive 220 has a vertically arranged first rotation axis, which can drive the entire test tray 110 to rotate (e.g., 90 degrees) around this axis for testing.

[0051] The operation of the first rotation detection component 200 is as follows: When it is necessary to test the attitude response of the IMU in the vertical direction, the operator installs the circuit board of the IMU under test into the IMU tray assembly 100 and fixes the entire tray assembly onto the first rotation drive component 220. After startup, the first rotation drive component 220 drives the test tray 110 to rotate according to the preset program, while controlling the main board 130 to synchronously collect the Euler angle data of all IMU circuit boards.

[0052] The second rotation detection component 300 is used to simulate attitude changes in the horizontal direction (X-axis or Y-axis) and includes a second rotation drive 310.

[0053] For example, the second rotary drive 310 also employs a high-precision servo motor or stepper motor. The second rotary drive 310 has a horizontally set second rotation axis, which can drive the test tray 110 to swing around the axis at a limited angle (e.g., 90 degrees).

[0054] The second rotation detection component 300 operates similarly to the first rotation detection component 200, except that the excitation direction is changed to the horizontal direction. When it is necessary to evaluate the IMU's performance on a horizontal plane, the tray assembly is transferred from the first rotation detection component 200 to the second rotation detection component 300, and the above operation steps are repeated. The second rotation drive 310 operates according to the set parameters to generate the required attitude excitation, while the control motherboard 130 is responsible for synchronously collecting data and comparing and analyzing it with the reference value.

[0055] Therefore, by introducing the first rotation detection component 200 and the second rotation detection component 300, the IMU Euler angle testing device of this application can cover almost all attitude change modes in three-dimensional space, meeting the testing needs of various IMU products. Users can choose to use a single or combined rotation detection component according to their actual needs, which saves costs and also meets the special requirements of specific application scenarios. The entire testing process is highly integrated, reducing manual intervention, improving work efficiency, and reducing the risk of human error.

[0056] like Figure 3 and Figure 4 As shown, in some embodiments, the first rotation detection component 200 further includes a first tray adapter 210, which is connected to the bottom of the test tray 110, and the first tray adapter 210 and the power output end of the first rotation drive component 220 form a plug-in transmission engagement.

[0057] In these embodiments, the first tray adapter 210 is a rigid metal component with mounting holes and locating pin holes on its upper end face that match the bottom of the test tray 110, and the test tray 110 is securely fixed thereon by screws or quick-release pins. The lower end of the first tray adapter 210 is provided with a first transmission slot for insertion and transmission engagement with the power output end of the first rotary drive component 220.

[0058] The power output end (e.g., output shaft) of the first rotary drive 220 is provided with a first transmission plug that matches the first transmission slot, which can be polygonal (e.g., hexagonal) or splined. When the first tray adapter 210 descends with the test tray 110, the first transmission plug is inserted into the first transmission slot, forming a reliable mechanical transmission connection, so that the rotational torque of the first rotary drive 220 can be effectively transmitted to the test tray 110.

[0059] Obviously, the plug-in method for power transmission eliminates the need for bolt fastening or coupling alignment, significantly reducing the assembly and separation time between the test tray 110 and the rotary drive component, and improving the overall test cycle time.

[0060] The precise fit between the first drive plug and the first drive slot (such as a spline or high-precision polygon) ensures the consistency of mechanical connection for each installation, avoids vibration or torque loss due to alignment errors, and improves the stability and comparability of the test.

[0061] The first tray adapter 210, as an independent component, can be replaced for test trays 110 of different sizes or interfaces, enhancing the versatility and flexibility of the test device.

[0062] like Figure 4 As shown, in some embodiments, the first rotation detection component 200 further includes a first rotation limiting member 230, and the first tray adapter 210 forms two opposing first limiting ends. The first rotation limiting member 230 is located between the two first limiting ends to limit the rotation stroke of the first tray adapter 210.

[0063] In these embodiments, two opposing first limiting ends are formed on the side wall of the first tray adapter 210. In this embodiment, these two first limiting ends are the two ends of a first limiting groove 211 extending circumferentially from the outer periphery of the first tray adapter 210. For example, the central angle occupied by the first limiting groove 211 is 90°, but it is not limited to 90°. Other angles, such as 30°, 40°, 50°, 60°, etc., can be set according to actual needs. The first rotation limiting member 230 is a limiting pin.

[0064] Of course, in other embodiments, the two first limiting ends are protrusions or baffles extending axially from the outer periphery of the first tray adapter 210, with an included angle of θ (e.g., 90°) between them, which are used to physically contact the first rotation limiting member 230 during rotation, thereby limiting its rotation range.

[0065] For example, the first rotation limiter 230 is fixedly installed on the fixed housing or mounting bracket of the first rotation drive 220 (the first rotation drive 220 is disposed on the mounting bracket), located between the rotation paths of the two first limit ends. The first rotation limiter 230 may be a rigid stop block or a buffer block wrapped with an elastic material (such as rubber or polyurethane), used to collide with the first limit end on the first tray adapter 210 when the first tray adapter 210 rotates to the limit position, preventing it from continuing to rotate.

[0066] By adjusting the installation angle of the first rotation limiter 230, or by replacing the first tray adapter 210 with a first limiter segment having a different included angle, different maximum rotation angles can be set. For example, when the included angle between the two first limiter ends is 180°, a rotation stroke limit of ±90° can be achieved by using the fixed first rotation limiter 230.

[0067] In actual operation, the first rotation limiter 230 acts as a mechanical hard limiter, providing a final layer of safety protection. Simultaneously, the control system (such as the driver of the first rotation drive 220) will actively decelerate and stop when approaching the limit point according to a preset program, ensuring smooth operation. Even if the control system fails, the mechanical limiter can still effectively prevent equipment damage.

[0068] During limited-angle attitude testing, the operator mounts the IMU circuit board under test onto the test tray 110. Then, the test tray 110, along with its first tray adapter 210, is connected to the first rotary drive 220 via a plug-in transmission mechanism. After system startup, the first rotary drive 220 drives the test tray 110 to rotate around a first rotation axis. When the rotation angle approaches a preset maximum value, the control system decelerates the motor. If, due to unforeseen circumstances, the rotation exceeds the electronic control range, the first limit end on the first tray adapter 210 will contact the first rotation limiter 230, forcibly stopping the rotation and ensuring equipment and personnel safety.

[0069] like Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the second rotation detection assembly 300 further includes a second tray adapter 320, which is connected to the power output end of the second rotation drive 310 and can be detachably connected to either the first side 111 or the second side 112 that are perpendicular to each other on the test tray 110.

[0070] In these embodiments, the second rotation detection component 300 is used to simulate attitude changes in the horizontal direction (X-axis or Y-axis).

[0071] One end of the second tray adapter 320 is fixedly connected to the power output end of the second rotary drive 310 by bolts, quick-release pins or clips to ensure reliable torque transmission.

[0072] The other end of the second tray adapter 320 is designed to be detachably connected to either the first side 111 or the second side 112 that are perpendicular to each other on the test tray 110.

[0073] For example, when it is necessary to test the attitude response of the IMU around the X-axis (tilt), the second connection end is connected to the first side 111 of the test tray 110; When it is necessary to test the attitude response of the IMU around the Y-axis (tilt left and right), connect the second connection end to the second side 112 of the test tray 110.

[0074] For example, the test tray 110 has a standardized array of mounting holes or quick-release interfaces on both the first side 111 and the second side 112. The second connecting end of the second tray adapter 320 is equipped with matching threaded holes or snaps, which can be secured to either side by screws or a quick-clamping mechanism.

[0075] When conducting horizontal attitude tests, the operator selects the excitation direction according to the test requirements: To test the pitch angle, connect the second tray adapter 320 to the first side 111 of the test tray 110. To test the roll angle, connect the second connector to the second side 112 of the test tray 110.

[0076] After the connection is completed, the second rotary drive 310 is activated, which drives the test tray 110 to swing around the horizontally set second rotation axis by a limited angle via the second tray adapter 320. The control motherboard 130 synchronously acquires Euler angle data from all IMU circuit boards.

[0077] Clearly, by introducing the second tray adapter 320 and its optional connection design, multi-axial testing compatibility is achieved. By simply changing the connection side, attitude excitation in both the X and Y axes (orthogonal directions) can be achieved on the same equipment, eliminating the need for two separate rotation mechanisms and significantly reducing equipment cost and space requirements. Users can quickly switch test modes according to their test plans, improving equipment utilization and testing efficiency.

[0078] like Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the second rotation detection component 300 further includes a second rotation limiting member 340, and the second tray adapter 320 forms two opposing second limiting ends. The second rotation limiting member 340 is located between the two second limiting ends to limit the rotation stroke of the second tray adapter 320.

[0079] In these embodiments, two opposing second limiting ends are formed on the side wall of the second tray adapter 320. In this embodiment, these two second limiting ends are the two ends of a second limiting groove 324 extending circumferentially from the outer periphery of the second tray adapter 320. For example, the central angle occupied by the second limiting groove 324 is 90°, but it is not limited to 90°; other angles, such as 30°, 40°, 50°, 60°, etc., can be set according to actual needs. The second rotation limiting member 340 is a limiting pin.

[0080] Of course, in other embodiments, the two second limiting ends are protrusions or baffles extending axially from the outer periphery of the second tray adapter 320, with an included angle of θ (e.g., 90°) between them, which are used to physically contact the second rotation limiting member 340 during rotation, thereby limiting its rotation range.

[0081] The second rotation limiter 340 is fixedly installed on the housing or support 330 of the second rotation drive 310, located between the rotation paths of the two second limit ends. The second rotation limiter 340 may be a rigid stop block or a buffer block wrapped with an elastic material (such as rubber or polyurethane), used to collide with the second limit end on the second tray adapter 320 when it rotates to the limit position, preventing it from continuing to rotate.

[0082] By adjusting the installation angle of the second rotation limiter 340, or by replacing the second tray adapter 320 with a second limiter end having a different included angle, different maximum deflection angles can be set. For example, when the included angle between the two second limiters is 120°, a swing stroke limit of ±60° can be achieved by using the fixed-position second rotation limiter 340.

[0083] In actual operation, the second rotation limiter 340 acts as a mechanical hard limiter, providing a final layer of safety protection. Simultaneously, the control system (such as the driver of the second rotation drive 310) will actively decelerate and stop when approaching the limit point according to a preset program, ensuring smooth operation. Even if the control system fails, the mechanical limiter can still effectively prevent equipment damage.

[0084] During limited-angle horizontal attitude testing, the operator selects the connecting side (first side 111 or second side 112) according to the testing requirements and connects the second tray adapter 320 to the test tray 110. After startup, the second rotation drive 310 drives the test tray 110 to swing around the horizontal second rotation axis. When the swing angle approaches the preset maximum value, the control system controls the motor to decelerate; if the swing exceeds the electrical control range due to unforeseen circumstances, the second limit end on the second tray adapter 320 will contact the second rotation limit member 340, forcibly stopping the rotation and ensuring the safety of equipment and personnel.

[0085] like Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the second tray adapter 320 includes a connecting seat 321, a clamping block 323, and an adjusting part 322. The connecting seat 321 has a slot 325, and the first side 111 and the second side 112 of the test tray 110 can be selectively inserted into the slot 325. In the insertion direction of the test tray 110, the slot 325 has a positioning groove wall for abutting and positioning against the first side 111 or the second side 112 of the test tray 110. The adjusting part 322 is disposed on the connecting seat 321 and connected to the clamping block 323. The adjusting part 322 is used to adjust the position of the clamping block 323 to press the side of the test tray 110 against the groove wall of the slot 325 opposite to the clamping block 323.

[0086] In these embodiments, the second rotation detection component 300 is used to simulate attitude changes in the horizontal direction (X-axis or Y-axis).

[0087] The connecting seat 321 is the main structure of the second tray adapter 320. For example, it is made of high-strength aluminum alloy or engineering plastic, and one end of it is fixedly connected to the power output end of the second rotary drive 310. The connecting seat 321 is provided with a slot 325, which is a U-shaped or C-shaped channel, and its size is designed to allow the first side 111 or the second side 112 of the test tray 110 to pass through.

[0088] Within the slot 325, a positioning groove wall is formed on the side opposite to the insertion direction of the test tray 110. When the side (first side 111 or second side 112) of the test tray 110 is inserted into the slot 325, its side abuts against the positioning groove wall, thereby achieving positioning in the insertion direction and ensuring the consistency of the insertion position of the test tray 110.

[0089] The clamping block 323 is located inside the slot 325 and is disposed opposite to one wall of the slot 325. The clamping block 323 can move perpendicular to the insertion direction under the drive of the adjusting part 322.

[0090] An adjusting part 322 is disposed on the top or side wall of the connecting seat 321 and is mechanically connected to the clamping block 323. In this embodiment, the adjusting part 322 is a knob-type screw mechanism, including an adjusting knob and a transmission screw. The adjusting knob is exposed outside the connecting seat 321 for easy manual rotation. One end of the transmission screw is fixedly connected to the adjusting knob, and the other end is threaded into the top of the clamping block 323.

[0091] When the user rotates the adjustment knob clockwise, it pushes the clamping block 323 upward, firmly pressing the side of the test tray 110 (first side 111 or second side 112) against the groove wall of the slot 325, achieving a detachable mechanical fixation. Rotating it counterclockwise will loosen the clamping block 323, facilitating quick replacement of the test tray 110.

[0092] Because the design of the slot 325 allows both the first side 111 and the second side 112 (which are perpendicular to each other) of the test tray 110 to be inserted, the user can select different connection sides according to the test requirements (rotation around the X-axis or Y-axis) to achieve flexible switching of the excitation direction.

[0093] During horizontal attitude testing, the first side 111 or the second side 112 of the test tray 110 is vertically inserted into the slot 325 of the second tray adapter 320 from above until its bottom surface abuts against the wall of the positioning slot to complete positioning. Rotating the adjustment knob drives the clamping block 323 upwards via the transmission screw, pressing the side of the test tray 110 firmly into the slot 325. Activating the second rotation drive 310 drives the test tray 110 to swing around the second rotation axis, controlling the main board 130 to synchronously acquire data.

[0094] like Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the second rotation detection assembly 300 further includes a support member 330 and a pair of second adapters; one of which is connected to the power output end of the second rotation drive member 310, and the other is rotatably mounted on the support member 330. The pair of second adapters are arranged opposite to each other and form a coaxial rotation arrangement; wherein the pair of second adapters are used to be detachably connected to the opposite two sides of the test tray 110 respectively.

[0095] In these embodiments, the second rotation detection component 300 is used to simulate attitude changes in the horizontal direction (X-axis or Y-axis). Its structure can adopt the aforementioned single-sided drive method (including the second tray adapter 320) or the double-sided coaxial support method described in this embodiment.

[0096] The support member 330 is a rigid bracket. One end of the support member 330 is provided with a bearing seat for rotatably mounting a second adapter.

[0097] One of the second adapter components is fixedly connected to the power output end of the second rotary drive component 310 via a flange or coupling. The other second adapter component is rotatably mounted in the bearing housing of the support component 330 via a bearing. After installation, the two second adapter components are on the same straight line, forming a coaxial rotational arrangement, and their common axis of rotation is the second axis of rotation.

[0098] A pair of second adapters are detachably connected to opposite sides (e.g., front and rear sides, or left and right sides) of the test tray 110. The connection can be made by screw fixing, quick snap, or the aforementioned slot 325 clamping structure.

[0099] By fixing both ends of the test tray 110 to two coaxial second adapters, dual-sided support and drive of the test tray 110 are achieved.

[0100] When the second rotary drive 310 is activated, its power is transmitted to the test tray 110 through the second adapter, while the other end of the test tray 110 is supported by the second adapter. Because the two second adapters are coaxially arranged, the test tray 110 can smoothly swing around the second rotation axis, avoiding torsional loads or eccentric vibrations that may occur with unilateral connection. The second rotation limiter 340 can be mounted on the support 330.

[0101] When performing high-precision or high-load horizontal attitude tests, connect the first side 111 (such as the front edge) of the test tray 110 to the second adapter. Connect the opposite side (such as the rear edge) of the test tray 110 to the second adapter.

[0102] In some embodiments, both the first side 111 and the second side 112 are provided with a tongue 150, which is used to pass through the slot 325.

[0103] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0104] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0105] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. An IMU tray assembly, characterized by, include: Test tray (110) for removably mounting IMU circuit board; Multiple IMU test carrier boards (120) are distributed on the test tray (110), and the IMU test carrier boards (120) are used to electrically connect to at least one of the IMU circuit boards; A control motherboard (130) is electrically connected to each of the IMU test carrier boards (120). The control motherboard (130) is used to control the multiple IMU test carrier boards (120) respectively and to interact with each of the IMU circuit boards respectively.

2. The IMU tray assembly of claim 1, wherein, One of the IMU test carrier board (120) and the IMU circuit board has an electrical plug and the other has an electrical socket. The electrical plug and the electrical socket are plugged in and out, so that the IMU test carrier board (120) and the IMU circuit board form a pluggable electrical connection and a mechanical connection.

3. The IMU tray assembly of claim 1 or 2, wherein, Also includes: The test power supply (140) is electrically connected to the plurality of IMU test carrier boards (120) and the control motherboard (130) respectively.

4. An IMU Euler angle test device characterized by, include: The IMU tray assembly as described in any one of claims 1 to 3; A first rotation detection assembly (200) includes a first rotation drive (220), which is used to detachably connect the test tray (110). The first rotation drive (220) has a first rotation axis and is used to drive the test tray (110) to rotate around the first rotation axis, which is vertically oriented. And / or, a second rotation detection assembly (300), the second rotation detection assembly (300) including a second rotation drive (310), the second rotation drive (310) for detachably connecting the test tray (110), the second rotation drive (310) having a second rotation axis, the second rotation drive (310) for driving the test tray (110) to rotate about the second rotation axis, the second rotation axis being horizontally set.

5. The IMU Euler angle testing device according to claim 4, characterized in that, If the IMU Euler angle testing device includes the first rotation detection component (200), the first rotation detection component (200) further includes: The first tray adapter (210) is connected to the bottom of the test tray (110), and the first tray adapter (210) and the power output end of the first rotary drive (220) form a plug-in transmission fit.

6. The IMU Euler angle test device of claim 5, wherein, The first rotation detection component (200) further includes: The first rotation limiter (230) has two opposing first limit ends formed on the first pallet adapter (210), and the first rotation limiter (230) is located between the two first limit ends to limit the rotation stroke of the first pallet adapter (210).

7. The IMU Euler angle test device of claim 4, wherein, The second rotation detection assembly (300) also includes: The second tray adapter (320) is connected to the power output end of the second rotary drive (310) and can be detachably connected to either the first side (111) or the second side (112) perpendicular to each other on the test tray (110).

8. The IMU Euler angle test device of claim 7, wherein, The second rotation detection component (300) also includes: The second rotation limiter (340) and the second pallet adapter (320) have two opposing second limit ends. The second rotation limiter (340) is located between the two second limit ends to limit the rotation stroke of the second pallet adapter (320).

9. The IMU Euler angle test device of claim 7, wherein, The second pallet adapter (320) includes: A connecting seat (321) has a slot (325), and the first side (111) and the second side (112) of the test tray (110) can be selectively inserted into the slot (325); wherein, in the insertion direction of the test tray (110), the slot (325) has a positioning groove wall, which is used to abut and position itself against the first side (111) or the second side (112) of the test tray (110); A clamping block (323) and an adjusting part (322) are provided on the connecting seat (321). The adjusting part (322) is connected to the clamping block (323). The adjusting part (322) is used to adjust the position of the clamping block (323) so as to press the side of the test tray (110) against the groove wall of the slot (325) opposite to the clamping block (323).

10. The IMU Euler angle test device of claim 7, wherein, The second rotation detection component (300) also includes: A support member (330) and a pair of second adapters; one of which is connected to the power output end of the second rotary drive member (310), and the other is rotatably mounted on the support member (330). The pair of second adapters are arranged opposite to each other and form a coaxial rotational arrangement. The pair of second adapters are used to be detachably connected to the opposite two sides of the test tray (110).

Images