CN108036800A - A kind of IMU demarcates fixture - Google Patents
A kind of IMU demarcates fixture Download PDFInfo
- Publication number
- CN108036800A CN108036800A CN201711448241.2A CN201711448241A CN108036800A CN 108036800 A CN108036800 A CN 108036800A CN 201711448241 A CN201711448241 A CN 201711448241A CN 108036800 A CN108036800 A CN 108036800A
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- CN
- China
- Prior art keywords
- imu
- fixture
- demarcates
- bottom plate
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention belongs to clamp art, and in particular to a kind of IMU demarcates fixture, including base and fixed intermediate plate, and the base includes bottom plate and the side plate being oppositely arranged in the both sides of the bottom plate, the bottom plate are equipped with 2 to 4 positioning pins；The both ends of the fixed intermediate plate are connected with the side plate using removably respectively, and the fixed intermediate plate can clamp IMU after being connected with the base.The present invention can solve to cause the problem of IMU sharp processings required precision is high, production difficulty is big since the clamping precision for demarcating IMU requires height in the prior art.
Description
Technical field
The invention belongs to clamp art, and in particular to a kind of IMU demarcates fixture.
Background technology
IMU, that is, Inertial Measurement Unit, Inertial Measurement Unit are measurements object three-axis attitude angle (or angular speed) and accelerate
The device of degree, it is widely used in unmanned air vehicle technique field.Generally, an IMU contain three single shafts accelerometer and
The gyro of three single shafts, accelerometer detection object founds the acceleration signal of three axis in carrier coordinate system unification and independence, and gyro detects
Carrier is relative to the angular velocity signal of navigational coordinate system, measurement object angular speed and acceleration in three dimensions, and with this
The posture of object is calculated, there is critically important application value in navigation.
IMU belongs to fine measuring instrument, it is necessary to periodically be demarcated to it.Due to the number of IMU collection 6 frees degree in space
It is believed that breath, its internal gyroscope rotation axis and Plane of rotation need vertical, when calibration, needs to ensure each axis attitude stabilization.In order to
Ensure attitude stabilizations of the IMU in calibration process, existing calibration mode is that constraint is fixed to six faces of IMU, therefore is
Meet clamping requirement during calibration, the shape of IMU needs that six planes are vertical two-by-two, this causes requirement on machining accuracy high, raw
Production difficulty is big, and product involves great expense.
The content of the invention
The present invention provides a kind of IMU calibration fixture, to solve in the prior art due to the clamping precision requirement demarcated to IMU
Height, causes the problem of IMU sharp processings required precision is high, production difficulty is big.
The embodiment of the present invention provides a kind of IMU calibration fixture, including base and fixed intermediate plate, the base include bottom plate with
And the side plate being oppositely arranged in the both sides of the bottom plate, the bottom plate are equipped with 2 to 4 positioning pins, the side plate, the bottom plate
Use and be integrally formed with the positioning pin；The both ends of the fixed intermediate plate are connected with the side plate using removably respectively,
The fixed intermediate plate can clamp IMU after being connected with the base.
As the preferred embodiment of the present invention, the fixed intermediate plate includes clamping section and fixed part, and the fixed position is in institute
State the both ends of clamping section.
As the preferred embodiment of the present invention, the clamping section is strip, is equipped with and is turned under at the middle part of the clamping section
Bent bow-shaped structural, the top of the bow-shaped structural is plane.
As the preferred embodiment of the present invention, the fixed part is perpendicular to the clamping section and the ring buckle that extends downwardly.
As the preferred embodiment of the present invention, protrusion is equipped with the outside of the side plate, the ring buckle can be buckled described
In protrusion.
It is described raised equipped with the guide ramp tilted down as the preferred embodiment of the present invention.
As the preferred embodiment of the present invention, the distance of two ring buckles and the distance of the lateral surface of two side plates
It is equal.
As the preferred embodiment of the present invention, the flatness≤0.5 μm/100mm on the upper and lower surface of the bottom plate.
As the preferred embodiment of the present invention, the roughness on the upper and lower surface of the bottom plate≤Ra0.2 μm.
As the preferred embodiment of the present invention, the verticality of the side plate and the bottom plate is≤0.02mm.
The beneficial effects of the present invention are：By the clamping action of base and fixed intermediate plate by IMU clampings in calibrating instrument
On workbench, and upper surface at least two positioning pins of setting of base prevent the axial rotation of IMU.Due to base and geometrical clamp
The clamping action of piece and the positioning action of positioning pin, 6 spatial degrees of freedom of IMU are limited, therefore only need to be to the bottom of base
High accuracy processing is done in face and the bottom surface of IMU can meet the calibration request of IMU, substantially reduce the production cost of IMU, be conducive to
Reduce the price of IMU.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structure diagram of the embodiment of the present invention.
Wherein, 1, base, 2, fixed intermediate plate, 3, bottom plate, 4, side plate, 5, positioning pin, 6, ring buckle, 7, IMU, 8, raised.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiment of the invention discloses a kind of IMU to demarcate fixture, as shown in the figure, its structure is divided into two parts, including base 1
With fixed intermediate plate 2.
The structure of base 1 includes bottom plate 3 and the side plate 4 being oppositely arranged in bottom plate both sides, and two side plates 4 are perpendicular to bottom plate
3, a U-shaped structure is formed, IMU7 is arranged in U-shaped structure when demarcating.During present invention normal work, the upper surface of bottom plate 3
Contacted with IMU7, two side plates 4 are not contacted with IMU7, and actual upper bed-plate 1 only has a face to be contacted with IMU7.Base 1 with
(i.e. the upper surface of bottom plate) can fix IMU7 equipped with 2 to 4 positioning pins, 5,1 positioning pin 5 and be allowed to not on the contact surface of IMU7
Relatively moved with bottom plate 3, the positioning pin 5 of more than 2 can fix IMU7 and be allowed to not with relatively rotating with bottom plate 3.
For convenience of the making and use of base 1, it can plan a rectangle on 3 surface of bottom plate, positioning pin 5 is distributed in the vertex of rectangle
Place.Further, side plate 4, bottom plate 3, using being integrally formed, can ensure the overall stiffness of fixture to greatest extent with positioning pin 5,
So that it is guaranteed that stated accuracy.
Further, since IMU7 is fine measuring instrument, it is demarcated the working face of fixture and should also be as with higher morpheme public affairs
Difference and surface roughness, in the case where considering manufacture cost and requirement, the upper and lower surface of bottom plate 3 of the present invention
Flatness≤0.02mm/100mm, the roughness on upper and lower surface≤Ra0.8 μm, verticality≤0.02mm of side plate 4 and bottom plate 3.
5 spatial degrees of freedom of IMU 7 can be limited using the base 1 of said structure, IMU7 can also be vertical at this time
Relatively move with base 1 on direction, therefore in order to limit the one-movement-freedom-degree of vertical direction, it need to be applied above IMU7
Downward pressure is added to be fixed.
In order to thoroughly fix IMU7, be additionally provided with fixed intermediate plate 2 in the top of base 1, the both ends of fixed intermediate plate 2 respectively with bottom
The side plate 4 of seat 1 is connected using removably, and fixed intermediate plate 2 can clamp IMU7 after being connected with base 1.The knot of fixed intermediate plate 2
Structure includes clamping section and fixed part, fixed position in the both ends of clamping section,.
Clamping section is the sheet metal of a strip, in the middle equipped with reclinate bow-shaped structural, the bow-shaped structural
Top be plane, bow-shaped structural has certain deformation space, and the elastic force that generation is exactly deformed upon using bow-shaped structural will
IMU is securely fixed, and plane will be arranged at the top of bow-shaped structural can increase active area of the fixed intermediate plate 2 to IMU 7, make
The stress of IMU7 more with, it is more firm.
Fixed part is connected with clamping section, its structure is perpendicular to clamping section and the ring buckle that extends downwardly.With fixed part knot
Structure is corresponding, the outside of 1 two side plates 4 of base be equipped with ring buckle 6 matched raised 8, ring buckle 6 can be buckled in protrusion
On 8.IMU7 is clipped when base 1 and fixed intermediate plate 2 coordinate, fixed intermediate plate 2 and base 1 can be by IMU7 to the active force of IMU7
Securely fix between.Need to untie when buckling, only ring buckle 6 need to be moved laterally and can untied.In order to facilitate ring
Shape button 6 is buckled with protrusion 8, and the guide ramp tilted down is equipped with protrusion 8, need to only be pressed down on fixed intermediate plate 2, ring
Shape button 6 is along guide ramp downlink until buckling in the bottom of protrusion 8.In order to ensure fixed intermediate plate 2 and 1 hanging buckle structure of base
Stability, prevents fixed intermediate plate 2 is opposite with base 1 from rocking, the distance between two ring buckles 6 with base 1 two side plates 4 outside
The distance of side is equal.
Using the present invention demarcate IMU7 when, first according to the position of positioning pin on bottom plate 5 IMU7 bottom surface perforate, then
Hole on IMU7 is directed at positioning pin 5, IMU7 is placed on base 1, fixed intermediate plate 2 then is installed from top, by geometrical clamp
Two ring buckles 6 of piece 2 are buckled in protrusion 8.IMU7 is securely fixed by the active force of fixed intermediate plate 2 and base 1 at this time,
It is placed on calibrating instrument and can be calibrated afterwards.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of IMU demarcates fixture, it is characterised in that including base and fixed intermediate plate, the base includes bottom plate and in institute
State the side plate that the both sides of bottom plate are oppositely arranged, the bottom plate is equipped with 2 to 4 positioning pins, the side plate, the bottom plate with it is described
Positioning pin is used and is integrally formed；The both ends of the fixed intermediate plate are connected with the side plate using removably respectively, described solid
Clamp piece can clamp IMU after being connected with the base.
2. IMU according to claim 1 demarcates fixture, it is characterised in that the fixed intermediate plate includes clamping section and fixation
Portion, the fixed position is in the both ends of the clamping section.
3. IMU according to claim 2 demarcates fixture, it is characterised in that the clamping section is strip, in the clamping
The middle part in portion is equipped with reclinate bow-shaped structural, and the top of the bow-shaped structural is plane.
4. IMU according to claim 2 demarcates fixture, it is characterised in that the fixed part is perpendicular to the clamping section
And the ring buckle extended downwardly.
5. IMU according to claim 4 demarcates fixture, it is characterised in that protrusion is equipped with the outside of the side plate, it is described
Ring buckle can be buckled in the protrusion.
6. IMU according to claim 5 demarcates fixture, it is characterised in that described raised equipped with the guiding tilted down
Inclined-plane.
7. IMU according to claim 4 demarcates fixture, it is characterised in that the distance of two ring buckles and two institutes
The distance for stating the lateral surface of side plate is equal.
8. IMU according to claim 1 demarcates fixture, it is characterised in that the flatness on the upper and lower surface of the bottom plate≤
0.02mm/100mm。
9. IMU according to claim 1 demarcates fixture, it is characterised in that the roughness on the upper and lower surface of the bottom plate≤
Ra0.8μm。
10. IMU according to claim 1 demarcates fixture, it is characterised in that the verticality of the side plate and bottom plate≤
0.02mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448241.2A CN108036800A (en) | 2017-12-27 | 2017-12-27 | A kind of IMU demarcates fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711448241.2A CN108036800A (en) | 2017-12-27 | 2017-12-27 | A kind of IMU demarcates fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108036800A true CN108036800A (en) | 2018-05-15 |
Family
ID=62097578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711448241.2A Pending CN108036800A (en) | 2017-12-27 | 2017-12-27 | A kind of IMU demarcates fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108036800A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6170686B1 (en) * | 1999-03-23 | 2001-01-09 | Sagarte, S. A. | Demountable wire mesh container for bottles |
| KR20120017894A (en) * | 2010-08-20 | 2012-02-29 | 삼성중공업 주식회사 | Jig for calibration of measuring instrument and measuring instrument calibration system using the same jig |
| CN202599394U (en) * | 2012-05-26 | 2012-12-12 | 安徽国盾三维高科技有限公司 | Calibration clamp of three-dimensional morphological trace comparison measurer |
| CN203615944U (en) * | 2013-12-11 | 2014-05-28 | 中国航空工业第六一八研究所 | All temperature range performance calibrating and testing device for inertia element |
| KR101446590B1 (en) * | 2013-06-28 | 2014-10-06 | 대원강업주식회사 | Jig for measuring lateral stiffness of spring |
| CN104236583A (en) * | 2013-06-07 | 2014-12-24 | 中国航天科工集团第三研究院第八三五八研究所 | Novel high-efficiency gyro alignment calibration device |
| CN205449096U (en) * | 2015-12-29 | 2016-08-10 | 北京贞正物联网技术有限公司 | Be used to lead automatic calibration device of system to what have accelerometer and a gyroscope |
| CN205957984U (en) * | 2016-08-11 | 2017-02-15 | 深圳市合正汽车电子有限公司 | Navigator test fixture |
| CN106840204A (en) * | 2017-01-18 | 2017-06-13 | 清华大学 | Inertial Measurement Unit scaling method based on test platform |
-
2017
- 2017-12-27 CN CN201711448241.2A patent/CN108036800A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6170686B1 (en) * | 1999-03-23 | 2001-01-09 | Sagarte, S. A. | Demountable wire mesh container for bottles |
| KR20120017894A (en) * | 2010-08-20 | 2012-02-29 | 삼성중공업 주식회사 | Jig for calibration of measuring instrument and measuring instrument calibration system using the same jig |
| CN202599394U (en) * | 2012-05-26 | 2012-12-12 | 安徽国盾三维高科技有限公司 | Calibration clamp of three-dimensional morphological trace comparison measurer |
| CN104236583A (en) * | 2013-06-07 | 2014-12-24 | 中国航天科工集团第三研究院第八三五八研究所 | Novel high-efficiency gyro alignment calibration device |
| KR101446590B1 (en) * | 2013-06-28 | 2014-10-06 | 대원강업주식회사 | Jig for measuring lateral stiffness of spring |
| CN203615944U (en) * | 2013-12-11 | 2014-05-28 | 中国航空工业第六一八研究所 | All temperature range performance calibrating and testing device for inertia element |
| CN205449096U (en) * | 2015-12-29 | 2016-08-10 | 北京贞正物联网技术有限公司 | Be used to lead automatic calibration device of system to what have accelerometer and a gyroscope |
| CN205957984U (en) * | 2016-08-11 | 2017-02-15 | 深圳市合正汽车电子有限公司 | Navigator test fixture |
| CN106840204A (en) * | 2017-01-18 | 2017-06-13 | 清华大学 | Inertial Measurement Unit scaling method based on test platform |
Non-Patent Citations (1)
| Title |
|---|
| 万文龙: "机械制造基础", 30 April 2009, 同济大学出版社, pages: 182 - 183 * |
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