CN116944072B

CN116944072B - Test system and test method of yaw rate sensor

Info

Publication number: CN116944072B
Application number: CN202310885464.4A
Authority: CN
Inventors: 万珍平; 冯小明; 卜颖滨; 田承权; 刘志祺
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2024-02-06
Anticipated expiration: 2043-07-19
Also published as: CN116944072A

Abstract

The invention relates to the technical field of vehicle detection, and particularly discloses a test system and a test method of a yaw rate sensor; the test system comprises a rack, a sensor automatic feeding device, a sensor automatic discharging device, a sensor test device and a sensor carrying device, wherein the sensor automatic feeding device, the sensor automatic discharging device, the sensor test device and the sensor carrying device are arranged on the rack; the sensor testing device comprises a testing turntable, a plurality of groups of clamping mechanisms, a testing driving mechanism and a rotation driving mechanism, wherein the clamping mechanisms are arranged on the testing turntable; the multiple groups of clamping mechanisms are uniformly arranged along the circumferential direction of the test turntable; the clamping mechanism comprises a clamping seat, a clamping piece and a clamping driving mechanism; the clamping piece is provided with a plug; when the clamping driving mechanism drives the clamping piece to clamp and position the yaw rate sensor, the plug is inserted into a socket of the yaw rate sensor, and automatic wiring of the yaw rate sensor is completed. Through the arrangement, the test system of the yaw rate sensor can automatically detect a plurality of yaw rate sensors, and the detection efficiency is higher.

Description

Test system and test method of yaw rate sensor

Technical Field

The invention relates to the technical field of vehicle detection, in particular to a test system and a test method of a yaw rate sensor.

Background

An electronic stability control system (ESC, electronic Stability Control System) is a comprehensive strategy for vehicle body stability control, aimed at improving the handling of the vehicle and preventing runaway system procedures when the vehicle reaches its dynamic limit, such as oversteer or understeer conditions. The yaw rate sensor is an important component of the electronic stability control system and is used for monitoring the running state of the vehicle in real time, and when a yaw rate sensor signal fails, the electronic stability control system can be triggered in advance, is triggered by mistake or is not triggered, so that the vehicle is turned over.

The basic items to be tested by the yaw rate sensor include acceleration in the X-axis direction, acceleration in the Y-axis direction, and rotational speed in the Z-axis direction. The existing yaw rate sensor test system has single function, can only perform single project test, has low test efficiency, can not comprehensively detect products, and has certain potential safety hazard. In addition, some manufacturers directly adopt real vehicle testing, so that the testing period is long and the cost is high. With intelligent driving of vehicles, particularly popularization of unmanned technologies, requirements of people on safety performance of vehicles are increasingly high, and it is very important to ensure reliability of product performance.

Therefore, the utility model patent with the publication number of CN 209764907U discloses a yaw rate sensor detection device, wherein the yaw rate sensor detection device drives a yaw rate sensor to move by taking an electric cylinder as a power source, clamps the yaw rate sensor by virtue of a clamp, and the electric cylinder is provided with a speed regulator, and can perform corresponding variable frequency motion according to a set speed by controlling the power frequency of the speed regulator, so that the electric cylinder can drive the yaw rate sensor to perform corresponding motion, the automatic detection of the yaw rate sensor can be realized, and meanwhile, the detection precision is improved; in addition, through set up the turning block that is used for driving anchor clamps along circumference pivoted on the base, can drive the waiting to detect yaw rate sensor of installing on anchor clamps and carry out the conversion direction to detect the acceleration of X axle direction and Y axle direction in proper order.

However, the yaw rate sensor detection device can only test one group of yaw rate sensors at a time, and when the group of yaw rate sensors are tested, the next group of yaw rate sensors can be tested, so that the test efficiency is low.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provides a test system of a yaw rate sensor, wherein the test system of the yaw rate sensor can realize automatic detection of a plurality of yaw rate sensors, and the detection efficiency is higher.

A second object of the present invention is to provide a test method of a test system using the yaw rate sensor.

The technical scheme for solving the technical problems is as follows:

the test system of the yaw rate sensor comprises a frame, a sensor automatic feeding device, a sensor automatic discharging device, a sensor test device, a sensor handling device, a sensor test device and a sensor test device, wherein the sensor automatic feeding device, the sensor automatic discharging device and the sensor test device are arranged on the frame, the sensor handling device is used for handling the yaw rate sensor conveyed by the sensor automatic feeding device into the sensor test device and the yaw rate sensor which is tested into the sensor automatic discharging device,

the sensor testing device comprises a testing turntable, clamping mechanisms arranged on the testing turntable and used for clamping the yaw rate sensor, a testing driving mechanism used for driving the testing turntable to rotate, and a rotation driving mechanism used for driving each group of clamping mechanisms to rotate; wherein,

the clamping mechanisms are multiple groups and are uniformly arranged along the circumferential direction of the test turntable; each group of clamping mechanism comprises a clamping seat arranged on the test turntable, a clamping piece arranged on the clamping seat and a clamping driving mechanism used for driving the clamping piece to clamp and loosen the yaw rate sensor; a plug is arranged on the clamping piece; when the clamping driving mechanism drives the clamping piece to clamp and position the yaw rate sensor, the plug is inserted into the socket of the yaw rate sensor.

Preferably, the clamping piece comprises a plurality of groups of clamping blocks, and a positioning groove formed by the plurality of groups of clamping blocks is matched with the outer contour of the yaw rate sensor to be detected; the device comprises a yaw rate sensor, a control system, a plurality of clamping blocks, a power supply system and a power supply system, wherein one group of clamping blocks is provided with a plug, and the plug is used for supplying power to the yaw rate sensor and transmitting data signals detected by the yaw rate sensor into the control system; the clamping driving mechanism is used for driving the plurality of groups of clamping blocks to do shrinkage motion or expansion motion; the clamping driving mechanism comprises a driving disc and a first rotary driving mechanism for driving the driving disc to rotate, wherein driving grooves are formed in the driving disc at positions corresponding to each group of clamping blocks, each driving groove is an arc-shaped groove, and the distance from each arc-shaped groove to the circle center of the driving disc is gradually reduced along the rotation direction of the driving disc; a sliding mechanism is arranged between each group of clamping blocks and the clamping seat, and comprises a sliding groove arranged on the clamping seat and a sliding rod arranged on the sliding groove, wherein the sliding groove extends along the radial direction of the driving disc, the lower end of the sliding rod is matched with the sliding groove, and the upper end of the sliding rod penetrates through the driving groove and then is connected with the clamping blocks; the first rotary driving mechanism is used for driving the driving disc to rotate, and the clamping blocks are driven to synchronously perform shrinkage motion to clamp the yaw rate sensor or expansion motion to loosen the yaw rate sensor.

Preferably, the conveying device is a conveying manipulator; the first rotary driving mechanism comprises gear teeth arranged on the outer wheel surface of the driving disc and a driving gear arranged on the rotating base of the carrying manipulator, wherein the driving gear is of a half-gear structure; a torsion spring is arranged between the driving disc and the clamping seat, and the elasticity of the torsion spring drives the driving disc to rotate to a state that a plurality of groups of clamping blocks clamp the yaw rate sensor; when the rotating base of the carrying manipulator rotates, the driving gear is meshed with the gear teeth of the driving disc and drives the driving disc to reversely rotate so as to drive the plurality of groups of clamping blocks on the driving disc to open, when the carrying manipulator places the yaw rate sensor into a positioning groove formed by the plurality of groups of clamping blocks, the carrying manipulator rotates to the position where the driving gear is separated from the gear teeth on the driving disc, and the elasticity of the torsion spring drives the driving disc to rotate so as to drive the plurality of groups of clamping blocks to clamp and wire the yaw rate sensor.

Preferably, the test driving mechanism comprises a bracket, a rotating shaft arranged on the bracket and a test motor for driving the rotating shaft to rotate, wherein the rotating shaft is connected with the test turntable; the test motor is arranged on the support, and a main shaft of the test motor is connected with the rotating shaft through a coupler.

Preferably, the sensor testing device further comprises reducing driving mechanisms for adjusting the distance between each group of clamping mechanisms and the axle center of the testing turntable, the number of the reducing driving mechanisms is equal to that of the clamping mechanisms, and each group of reducing driving mechanisms is used for adjusting the distance between one group of clamping mechanisms and the middle axle center of the testing turntable; the variable-diameter driving mechanism comprises a sliding groove arranged on the test turntable, a sliding seat arranged in the sliding groove and a linear driving mechanism used for driving the sliding seat to move in the sliding groove along the extending direction of the sliding groove; the sliding groove extends along the diameter direction of the test turntable; the clamping seat is arranged on the sliding seat, a reset spring is arranged between the sliding seat and the test turntable, one end of the reset spring acts on the test turntable, and the other end of the reset spring acts on the sliding seat; the linear driving mechanism comprises an electromagnet arranged on the sliding seat and a magnet arranged in the sliding groove; the magnetic poles and the magnetic force of the electromagnet are changed, so that the sliding seat is driven to do linear motion in the sliding groove, and the distance between each group of clamping mechanisms and the axle center of the test turntable is adjusted.

Preferably, the rotation driving mechanism comprises a rotation shaft arranged on each group of clamping mechanisms and a rotation driving mechanism for driving the rotation shaft to rotate, wherein,

the upper end of the rotating shaft is connected with the clamping seat, and the lower end of the rotating shaft vertically penetrates through the sliding seat and is connected with a rotation gear positioned below the test turntable; the sliding seat is provided with an avoidance hole or a bearing at a position corresponding to the rotating shaft, and the avoidance hole or the bearing is used for avoiding interference with the sliding seat when the rotating shaft rotates;

the rotation driving mechanism comprises a rotation sleeve arranged on the bracket, a rotation gear arranged on the rotation sleeve and a second rotation driving mechanism used for driving the rotation gear to rotate,

the rotating sleeve is arranged on the outer side of the rotating shaft and is coaxially arranged with the rotating shaft; a bearing is arranged between the rotating sleeve and the rotating shaft; the rotating gears are meshed with a plurality of groups of rotating gears at the same time;

the second rotary driving mechanism comprises a linear driver and a bolt which are arranged on the bracket; the rotary shaft is provided with a jack, the rotary sleeve is provided with a locking channel at a position corresponding to the jack, the bolt is installed in the locking channel, a compression spring is arranged between the bolt and the rotary sleeve and sleeved on the bolt, one end of the compression spring acts on the rotary sleeve, the other end of the compression spring acts on the bolt, and the elasticity of the compression spring drives the bolt to be separated from the jack of the rotary shaft;

The linear driver is used for driving the bolt to do linear motion in the locking channel; when the bolt enters the jack of the rotating shaft, the rotating sleeve and the rotating shaft synchronously rotate; when the bolt leaves the jack of the rotating shaft, the rotating shaft independently rotates.

Preferably, the rotation driving mechanism further comprises a wheel base adapting mechanism for ensuring that the rotation gear and the rotation gear can always realize power transmission in the diameter changing process of the clamping mechanism, the wheel base adapting mechanism is arranged between the rotation gear and comprises a transmission gear and a wheel base adapting driving mechanism for driving the transmission gear to move along the circumferential direction of the test turntable, wherein,

the wheelbase adaptive driving mechanism comprises a fixed block and a tensioning spring which are arranged below the test turntable; a guide mechanism is arranged between the transmission gear and the test turntable, the guide mechanism comprises an arc-shaped guide groove arranged on the test turntable and a guide shaft arranged on the transmission gear, the lower end of the guide shaft is arranged on the transmission gear, and the upper end of the guide shaft is matched with the arc-shaped guide groove; one end of the tensioning spring is arranged on the fixed block, and the other end of the tensioning spring is arranged on the guide shaft; the elasticity of the tensioning spring drives the transmission gear to be meshed with the rotation gear and the rotation gear respectively;

When the distance between the clamping mechanism and the axle center of the test turntable is the largest, the connecting lines of the axle centers of the transmission gear, the rotating gear and the autorotation gear are not in the same straight line.

Preferably, the vehicle road surface simulation device further comprises a road surface simulation device for simulating the running state of the vehicle on a complex road surface, and the road surface simulation device comprises a shake simulation mechanism for simulating the displacement of the vehicle on a horizontal plane or a vertical plane during running; the shake simulation mechanism comprises an X-axis driving mechanism for driving the support to reciprocate along the X-axis direction, a Y-axis driving mechanism for driving the support to reciprocate along the Y-axis direction, a Z-axis driving mechanism for driving the support to reciprocate along the Z-axis direction, and a mode selection mechanism for selecting one or more groups of mechanisms of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism to work.

Preferably, the road surface simulation device further includes a roll simulation mechanism for simulating a roll of the automobile during running, wherein the roll simulation mechanism includes a front/rear roll simulation mechanism for driving the stand to swing in the X-axis direction and a left/right roll simulation mechanism for driving the stand to swing in the Y-axis direction.

A method of testing a yaw rate sensor, comprising the steps of:

s1, conveying a yaw rate sensor to a feeding station through an automatic sensor feeding device, and correcting the posture of the yaw rate sensor;

s2, the sensor carrying device carries the yaw rate sensor subjected to preliminary correction onto a test turntable, and a clamping mechanism positioned on the test turntable clamps and automatically connects the yaw rate sensor; when all clamping mechanisms on the testing turntable are clamped with yaw rate sensors, testing is started;

s3, the rotation driving mechanism drives the yaw rate sensor to rotate until the X-axis direction in the yaw rate sensor is perpendicular to the radius direction of the test turntable; the test driving mechanism drives the test turntable to rotate, whether the difference value between the acceleration data and the rotation radius is within the error allowable range is judged by combining the acceleration data in the X-axis direction output by the yaw rate sensor with the rotation speed and the rotation radius of the test turntable, and if the difference value is not within the error allowable range, the control system marks the yaw rate sensor on the clamping mechanism;

s4, the rotation driving mechanism drives the yaw rate sensor to rotate until the Y-axis direction in the yaw rate sensor is perpendicular to the radius direction of the test turntable; the test driving mechanism drives the test turntable to rotate, the acceleration data in the Y-axis direction output by the yaw rate sensor is combined with the rotating speed and the rotating radius of the test turntable to judge whether the difference value of the two is within the error allowable range, if the difference value is not within the error allowable range, the control system marks the yaw rate sensor on the clamping mechanism;

S5, the rotation driving mechanism drives the yaw rate sensor to rotate, and difference value operation is carried out on the angular velocity of the rotation driving mechanism and the angular velocity actually output by the yaw rate sensor; if the difference value between the angular velocity of the autorotation driving mechanism and the angular velocity actually output by the yaw rate sensor is not in the error range, the control system marks the yaw rate sensor;

s6, after the test is finished, the sensor conveying device conveys the marked yaw rate sensor to a defective product conveying line in the automatic sensor blanking device, and conveys the unmarked yaw rate sensor to the defective product conveying line;

s7, repeating the steps S1-S6, and realizing batch automatic detection of the yaw rate sensor.

Compared with the prior art, the method has the following beneficial effects:

(1) The test system of the yaw rate sensor can realize the work of feeding, wiring, testing and discharging of the yaw rate sensor, realize the automatic test of the yaw rate sensor, and not only has higher test precision, but also further improves the test efficiency.

(2) The testing system of the yaw rate sensor can lighten the labor intensity of workers, improve the working efficiency, reduce the testing cost and has good market prospect.

Drawings

Fig. 1 is a schematic structural view of a test system of a yaw rate sensor according to the present invention.

Fig. 2 is a schematic perspective view of a test system of a yaw rate sensor according to the present invention.

Fig. 3 is a schematic perspective view of a test system (with a case removed) of the yaw rate sensor according to the present invention.

Fig. 4 and 5 are schematic perspective views of two different views of the sensor testing apparatus.

FIG. 6 is a cross-sectional view of a sensor testing apparatus.

Fig. 7 is a schematic view of a linear actuator driving a latch inserted into a receptacle of a spindle.

Fig. 8 is a schematic view of the latch being removed from the receptacle of the spindle.

Fig. 9 is a force analysis diagram of the wheelbase adaptation mechanism.

Fig. 10-12 are schematic perspective views of three different views of the clamping mechanism and the variable diameter drive mechanism.

Fig. 13 is a cross-sectional view of the clamping mechanism and the variable diameter drive mechanism.

Fig. 14 is a schematic perspective view of a road surface simulator.

Fig. 15 and 16 are schematic structural diagrams of the shake simulation mechanism.

Fig. 17 is a schematic structural view of the mode selection mechanism.

Fig. 18 and 19 are schematic perspective views of two different viewing angles of the dither-mode driving mechanism.

Fig. 20 is a schematic view of the structure of seven driving wheels.

Fig. 21 is a schematic perspective view of the X-axis cam driving unit, the Y-axis cam driving unit, and the Z-axis cam driving unit.

Fig. 22 to 24 are test diagrams of a test system of the yaw rate sensor of the present invention, in which fig. 22 is a schematic view of acceleration in the X-axis direction for testing the yaw rate sensor; FIG. 23 is a schematic diagram of a Y-axis directional acceleration for testing the yaw rate sensor; fig. 24 is a schematic view for testing the yaw angle of the yaw rate sensor.

Fig. 25 is a schematic structural view of the test turntable.

Fig. 26 is a schematic configuration diagram of a roll simulation mechanism in the third embodiment.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.

Example 1

Referring to fig. 1, the test system of the yaw rate sensor of the present invention includes a frame 5, a sensor automatic feeding device 1, a sensor automatic discharging device 2, a sensor test device 4, and a sensor handling device 3 for handling the yaw rate sensor transferred from the sensor automatic feeding device 1 to the sensor test device 4 and the yaw rate sensor completed to the sensor automatic discharging device 2, which are provided on the frame 5.

Referring to fig. 1, the sensor automatic feeding device 1 adopts a conveying mode of a conveying belt; wherein, a loading station of the sensor automatic loading device 1 is provided with an attitude correction mechanism for correcting the attitude of the yaw rate sensor; the gesture correcting mechanism comprises positioning plates arranged on two sides of a conveying channel of the conveying belt and positioning cylinders used for driving the positioning plates to move, and the positioning cylinders on two sides are used for driving the positioning plates on two sides to move in opposite directions, so that gesture adjustment of the yaw rate sensor is achieved, and the sensor conveying device 3 can convey the yaw rate sensor to the sensor testing device 4 conveniently.

Referring to fig. 1, the automatic sensor blanking device 2 includes two conveyor lines, one of which is used for conveying the unqualified yaw rate sensor and is a defective conveyor line; the other conveying line is used for conveying a qualified yaw rate sensor and is a qualified product conveying line; the conveying line adopts a conveying mode of a conveying belt, and can be implemented by referring to the existing conveying mechanism.

Referring to fig. 1, the sensor handling device 3 is a handling manipulator, and the handling manipulator may use an existing multi-degree-of-freedom manipulator.

Referring to fig. 1-25, the sensor testing device 4 includes a testing turntable 405, a clamping mechanism 8 arranged on the testing turntable 405 and used for clamping the yaw rate sensor, a testing driving mechanism used for driving the testing turntable 405 to rotate, and a rotation driving mechanism used for driving the clamping mechanism 8 to rotate; the clamping mechanism 8 is used for clamping the yaw rate sensor to be tested, so that the yaw rate sensor to be tested is prevented from loosening in the testing process to influence the testing precision; the test driving mechanism drives the test turntable 405 to rotate, so as to drive the multiple groups of clamping mechanisms 8 and yaw rate sensors arranged on each group of clamping mechanisms 8 to do circular motion, and the lateral force or the lateral acceleration suffered by the automobile is simulated through the centrifugal force or the centrifugal acceleration suffered by the yaw rate sensors during the circular motion, wherein,

If the distance between the clamping mechanism 8 and the axis of the test turntable 405 is R; the angular velocity at which the test dial 405 rotates is ω, then the lateral acceleration a=ω2r;

in the test process, the magnitude of the lateral acceleration can be changed by changing the magnitude of the angular velocity omega or the distance R between each group of clamping mechanisms 8 and the axle center of the test turntable 405, then the lateral acceleration information is output through the yaw rate sensor, and compared with the theoretically calculated lateral acceleration, if the difference value of the two is within the allowable range, the yaw rate sensor is indicated to pass the test of the lateral acceleration; then, the next step of testing is carried out;

as a preferable scheme, because the power is lost during transmission due to the influence of air resistance or friction resistance in the rotation process, a corresponding detector (such as an acceleration sensor) can be arranged on each group of clamping mechanisms 8 to detect the acceleration of each group of clamping mechanisms 8 in the test process, and then the yaw rate sensor is comprehensively evaluated (such as a comprehensive evaluation model is constructed) by comparing the acceleration information output by the yaw rate sensor, the acceleration information detected by the detector and the theoretical acceleration calculated according to the angular velocity omega and the distance R of the test turntable 405, so as to realize the more comprehensive test of the yaw rate sensor; by adopting the preferred mode, when the lateral acceleration test is carried out on the yaw rate sensor, whether the lateral acceleration output by the yaw rate sensor meets the precision requirement can be verified through the detectors arranged on each group of clamping mechanisms 8, the theoretical lateral acceleration is calculated by constructing a mathematical model, and meanwhile, the obtained acceleration data is comprehensively evaluated by constructing a comprehensive evaluation model, so that whether the acceleration information output by the yaw rate sensor meets the precision requirement is judged.

In addition, the rotation driving mechanism drives the yaw rate sensor to rotate for 90 degrees or continuously do rotation movement, wherein the rotation driving of the yaw rate sensor for 90 degrees is used for changing the direction of the yaw rate sensor, namely, after the acceleration in the X-axis direction is tested, the acceleration in the Y-axis direction is detected; and the yaw rate sensor is driven to continuously rotate, so as to test whether the difference value between the angular velocity information output by the rotation driving mechanism and the angular velocity information output by the yaw rate sensor is within an error allowable range, thereby judging whether the angular velocity output by the yaw rate sensor meets the precision requirement.

Referring to fig. 3-5 and fig. 10-13, the clamping mechanisms 8 are multiple groups, and the multiple groups of clamping mechanisms 8 are uniformly arranged along the circumferential direction of the test turntable 405; each group of clamping mechanisms 8 comprises a clamping seat 806 arranged on the test turntable 405, a clamping piece arranged on the clamping seat 806 and a clamping driving mechanism for driving the clamping piece to clamp and unclamp the yaw rate sensor; wherein, the clamping piece is provided with a plug 803; when the clamping driving mechanism drives the clamping piece to clamp and position the yaw rate sensor, the plug 803 is inserted into a socket of the yaw rate sensor to realize power supply and signal transmission of the yaw rate sensor, wherein a power supply module and a wireless transmission module can be arranged on the clamping piece, the power supply module is used for supplying power to the yaw rate sensor, and the wireless transmission module is used for transmitting an electric signal output by the yaw rate sensor into a control system; in addition to the above manner, the power supply and data transmission to the yaw rate sensor may be implemented by using a wire connection manner, so that an electrical slip ring structure is required to be provided in order to ensure that no line winding occurs during the rotation of the clamping mechanism 8 and the circular motion on the test turntable 405.

Referring to fig. 3-5 and 10-13, the clamping member includes a plurality of groups of clamping blocks 802, and positioning grooves formed by the groups of clamping blocks 802 are matched with the outer contour of the yaw rate sensor; a plug 803 is arranged on one group of clamping blocks 802, and the plug 803 is used for supplying power to the yaw rate sensor and transmitting data signals detected by the yaw rate sensor into the control system; the clamping driving mechanism comprises a driving disc 801 and a first rotary driving mechanism for driving the driving disc 801 to rotate, wherein an arc groove 804 is arranged on the driving disc 801 at a position corresponding to each group of clamping blocks 802, and the distance from the arc groove 804 to the circle center of the driving disc 801 is gradually reduced along the rotation direction of the driving disc 801; a sliding mechanism is arranged between each group of clamping blocks 802 and the clamping seat 806, the sliding mechanism comprises a sliding groove 813 arranged on the clamping seat 806 and a sliding rod 807 arranged on the sliding groove 813, wherein the sliding groove 813 extends along the radial direction of the driving disk 801, the lower end of the sliding rod 807 is matched with the sliding groove 813, and the upper end of the sliding rod 807 passes through the arc-shaped groove 804 and is connected with the clamping blocks 802;

the first rotation driving mechanism comprises gear teeth 814 arranged on the outer wheel surface of the driving disk 801 and a driving gear 301 arranged on the rotating base of the carrying manipulator, wherein the driving gear 301 has a half-gear structure; the driving disc 801 is rotatably connected to the clamping seat 806, and a torsion spring 805 is arranged between the driving disc 801 and the clamping seat 806, and the elasticity of the torsion spring 805 causes the driving disc 801 to rotate to a state that a plurality of groups of clamping blocks 802 clamp the yaw rate sensor; when the rotating base of the carrying manipulator rotates, the driving gear 301 is meshed with the gear teeth 814 of the driving disk 801 and drives the driving disk 801 to reversely rotate so as to drive the multiple groups of clamping blocks 802 on the driving disk 801 to open, and when the carrying manipulator places the yaw rate sensor into the positioning slot formed by the multiple groups of clamping blocks 802, the carrying manipulator rotates until the driving gear 301 is separated from the gear teeth 814 on the driving disk 801, and the driving disk 801 rotates under the elasticity of the torsion spring 805 so as to drive the multiple groups of clamping blocks 802 to clamp the yaw rate sensor and complete wiring.

Through the above arrangement, when the carrying manipulator carries the yaw rate sensor to be detected into the clamping mechanism 8 or carries the yaw rate sensor which has been detected in the clamping mechanism 8 away from the clamping mechanism 8, the carrying manipulator rotates 180 degrees after gripping the yaw rate sensor, in the process, the driving gear 301 arranged on the rotating base of the carrying manipulator also rotates 180 degrees, meanwhile, the driving gear 301 is meshed with the gear teeth 814 of the driving disk 801 in the clamping mechanism 8, and drives the driving disk 801 to rotate reversely against the elastic force of the torsion spring 805, so that the groups of clamping blocks 802 move outwards to open the positioning groove, and when the carrying manipulator puts the yaw rate sensor into the positioning groove, the carrying manipulator rotates 180 degrees again, so that the driving gear 301 is separated from the gear teeth 814 on the driving disk 801, and under the action of the torsion spring 805, the driving disk 801 rotates, thereby driving the groups of clamping blocks 802 to move inwards to clamp the yaw rate sensor; meanwhile, the plugs 803 positioned on one group of clamping blocks 802 are driven to be inserted into the jacks of the yaw rate sensor, so that automatic wiring of the yaw rate sensor is completed; similarly, after the test is completed, the carrying manipulator takes out the yaw rate sensors clamped by each group of clamping mechanisms 8 through the actions; of course, in order to further improve the working efficiency, two groups of clamping jaws may be disposed at the execution end of the handling manipulator, when the yaw rate sensor that completes the test is taken out, another group of clamping jaws act, and the yaw rate sensor to be tested that is grabbed by the clamping jaw acts to place the yaw rate sensor in the clamping mechanism 8, so that the loading work can be completed while the unloading is performed, and the working efficiency is further improved; in addition, the plurality of groups of clamping blocks 802 can realize positioning of the yaw rate sensor in the X-axis and Y-axis directions, and can also realize positioning in the current Z-axis direction.

Referring to fig. 1-25, the test driving mechanism includes a support 401, a rotating shaft 408 disposed on the support 401, and a test motor 402 for driving the rotating shaft 408 to rotate, wherein the rotating shaft 408 is connected with the test turntable 405; the test motor 402 is mounted on the support 401, and a main shaft of the test motor 402 is connected with the rotating shaft 408 through a coupler; the rotation shaft 408 is driven to rotate by the test motor 402, so that the test turntable 405 is driven to rotate, and the yaw rate sensor is detected.

Referring to fig. 1-25, the testing device further includes a variable diameter driving mechanism for adjusting the distance between each group of clamping mechanisms 8 and the axis of the testing turntable 405, where the number of variable diameter driving mechanisms is equal to the number of clamping mechanisms 8, and each group of variable diameter driving mechanisms is used for adjusting the distance between one group of clamping mechanisms 8 and the axis of the testing turntable 405; wherein the reducing driving mechanism comprises a sliding groove arranged on the test turntable 405, a sliding seat 808 arranged in the sliding groove, and a linear driving mechanism for driving the sliding seat 808 to move in the sliding groove along the extending direction of the sliding groove, wherein,

The sliding groove extends along the radial direction of the test turntable 405; the clamping seat 806 is mounted on the sliding seat 808, a return spring 810 is disposed between the sliding seat 808 and the test turntable 405, one end of the return spring 810 acts on the test turntable 405, and the other end acts on the sliding seat 808; the linear driving mechanism comprises an electromagnet 809 arranged on the sliding seat 808 and a magnet arranged on the sliding groove; the magnetic force and the magnetic poles of the electromagnet 809 are changed, so that the sliding seat 808 is driven to do linear motion in the sliding groove to adjust the distance R between the clamping mechanism 8 and the axle center of the test turntable 405; in addition to the above manner, a linear motor or a combination of a servo motor and a screw rod transmission mechanism can be used to drive the sliding seat 808 to move, so as to adjust the distance R (i.e. the rotation radius) between the clamping seat 806 in the clamping mechanism 8 and the axle center of the test turntable 405;

in addition, in the process of doing circular motion, the distance R between the clamping seat 806 in the clamping mechanism 8 and the axle center of the test turntable 405 can be adjusted at any time, and the change of the distance R can be linear change or nonlinear change so as to change the magnitude of the centrifugal acceleration; meanwhile, the motion track of the yaw rate sensor in each group of clamping mechanisms 8 is acquired through an image acquisition device (such as a camera) arranged above the frame 5, the theoretical acceleration of the yaw rate sensor is calculated by combining the rotating speed (the rotating speed can be uniform or variable) of the test turntable 405 and the existing mathematical model, and the change curve of the theoretical acceleration is obtained by integrating the theoretical acceleration, and in the process, the detector arranged in the clamping mechanism 8 also outputs the change curve of the acceleration detected by the detector (generated by computer assistance); and then, according to the change curve (generated by computer assistance) of the acceleration output by the yaw rate sensor, the comprehensive evaluation is carried out, so as to judge whether the yaw rate sensor is a qualified product or not.

Referring to fig. 1-25, the rotation driving mechanism includes a rotation shaft 811 provided on each group of clamping mechanisms 8 and a rotation driving mechanism for driving the rotation shaft 811 to rotate, wherein the upper end of the rotation shaft 811 is connected with the clamping seat 806, and the lower end vertically passes through the sliding seat 808 and then is connected with a rotation gear 812 located below the test turntable 405; the sliding seat 808 is provided with a avoiding hole or a bearing at a position corresponding to the rotation shaft 811, so as to avoid interference with the sliding seat 808 during rotation of the rotation shaft 811, i.e. ensure that the rotation shaft 811 does not drive the sliding seat 808 to rotate when rotating; the rotation driving mechanism includes a rotation sleeve 407 provided on the bracket 401, a rotation gear 403 provided on the rotation sleeve 407, and a second rotation driving mechanism for driving the rotation gear 403 to rotate, wherein,

the rotating sleeve 407 is installed on the outer side of the rotating shaft 408, and is coaxially arranged with the rotating shaft 408; a bearing is arranged between the rotating sleeve 407 and the rotating shaft 408; the rotating gear 403 is meshed with a plurality of groups of rotating gears 812 at the same time;

the second rotation driving mechanism comprises a linear driver 409 and a bolt 414, wherein the linear driver 409 and the bolt 414 are arranged on the bracket 401, a jack 416 is arranged on the rotating shaft 408, a locking channel is arranged on the rotating sleeve 407 at a position corresponding to the jack 416, the bolt 414 is arranged in the locking channel, a compression spring 415 is arranged between the bolt 414 and the rotating sleeve 407, the compression spring 415 is sleeved on the bolt 414, one end of the compression spring 415 acts on the rotating sleeve 407, the other end acts on the bolt 414, and the elasticity of the compression spring 415 drives the bolt 414 to be separated from the jack 416 of the rotating shaft 408; the linear driver 409 is configured to drive the latch 414 to perform a linear motion in the locking channel; when the plug 414 enters the insertion hole 416 of the rotating shaft 408, the rotating sleeve 407 rotates synchronously with the rotating shaft 408 (see fig. 7); when the pins 414 are separated from the insertion holes 416 of the rotating shaft 408, the rotating shaft 408 rotates independently (see fig. 8);

By the arrangement of the structure, the acceleration of the yaw rate sensor in the X-axis direction and the Y-axis direction can be tested by the same group of test motors 402, and the angular velocity of the yaw rate sensor can be tested; when the angular velocity test is performed, the test turntable 405 also rotates, and the clamping mechanism 8 is driven to do linear motion by combining the variable-diameter driving mechanism, so that whether the angular velocity output by the yaw rate sensor meets the precision requirement under the acceleration of different lateral directions (the X-axis direction or the Y-axis direction) can be tested.

In this embodiment, the linear driver 409 may be driven by an electromagnet 809, or a linear motor or a linear cylinder.

In addition to the above embodiments, the rotation driving mechanisms may be provided in multiple groups, that is, each group of rotation driving mechanisms individually drives one group of rotation shafts 811 to rotate, and each group of rotation driving mechanisms is provided with a power source, and the power source may be a motor or a steering engine.

Referring to fig. 1 to 25, since the distance between the rotation gear 812 at the lower end of the rotation shaft 811 and the rotation gear 403 is continuously increased or decreased during the linear movement of the sliding seat 808 driven by the variable diameter driving mechanism, in order to ensure that the power of the rotation gear 403 is always transferred to the rotation gear 812 during the distance increase or decrease, the rotation driving mechanism further includes a wheelbase adapting mechanism for ensuring that the power transfer between the rotation gear 812 and the rotation gear 403 is always achieved during the diameter change of the clamping mechanism 8; the wheelbase adapting mechanism is arranged between the autorotation gear 812 and the turning gear 403, and comprises a transmission gear 404 and a wheelbase adapting driving mechanism for driving the transmission gear 404 to move along the circumferential direction of the test turntable 405, wherein,

The wheelbase adaptation driving mechanism comprises a fixed block 413 and a tensioning spring 412 which are arranged below the test turntable 405; a guide mechanism is arranged between the transmission gear 404 and the test turntable 405, and the guide mechanism comprises an arc-shaped guide groove 418 arranged on the test turntable 405 and a guide shaft 410 arranged on the transmission gear 404; the lower end of the guide shaft 410 is mounted on the transmission gear 404, and the upper end is matched with the arc-shaped guide groove 418; one end of the tension spring 412 is mounted on the fixed block 413, and the other end is mounted on the guide shaft 410; the elastic force of the tension spring 412 urges the transmission gear 404 to be engaged with the rotation gear 812 and the rotation gear 403, respectively; when the distance between the clamping mechanism 8 and the axis of the test turntable 405 is the largest, the connecting lines of the axes of the transmission gear 404, the rotation gear 403 and the rotation gear 812 are not on the same straight line;

referring to fig. 9, when the distance between the clamping mechanism 8 and the axis of the test turntable 405 increases, the transmission gear 404 is always engaged with the rotation gear 812 and the rotation gear 403 under the tension of the tension spring 412, and at this time, since the rotation gear 403 does not rotate, the rotation gear 812, the transmission gear 404 and the rotation gear 403 may be regarded as an integral structure which is centered on the rotation shaft 408 and performs a circular motion around the rotation shaft 408, so that the rotation shaft 811 and the clamping mechanism 8 (including the clamped yaw rate sensor) provided on the rotation shaft 811 do not rotate; the transmission gear 404, the rotation gear 403 and the rotation gear 812 are meshed, so that the self-locking function is provided, and the rotation of the clamping seat 806 when the test turntable 405 rotates can be avoided; only when the rotating gear 403 rotates, the rotating gear 403 transmits power to the rotating gear 812 through the transmission gear 404, so as to drive the rotating gear 812 to rotate, thereby driving the clamping mechanism 8 and the yaw rate sensor clamped by the clamping mechanism to rotate around the Z axis; when the distance between the clamping mechanism 8 and the axis of the test turntable 405 is reduced, the line connecting the axes of the transmission gear 404, the rotation gear 403 and the rotation gear 812 is not on the same straight line; therefore, while the rotating gear 403, the rotating gear 812 and the driving gear 404 rotate synchronously, the rotating gear 812 generates a pressing force (F1 in fig. 9) on the driving gear 404, and the horizontal component force (i.e., F3 in fig. 9 and F2 is a vertical component force) of the pressing force causes the driving gear 404 to move outwards along the circumferential direction of the test turntable 405, but the driving gear 404 is always meshed with the rotating gear 403 and the rotating gear 812 (i.e., only the meshing position is changed) under the action of the pulling force of the tensioning spring 412 (F4 in fig. 9), so that even if the distance between the clamping mechanism 8 and the axle center of the test turntable 405 is changed, the power of the rotating gear 403 can be always transmitted to the rotating gear 812.

Referring to fig. 1 to 25, the test system of the yaw rate sensor of the present invention includes the steps of:

s1, conveying a yaw rate sensor to a feeding station through a sensor automatic feeding device 1, and correcting the posture of the yaw rate sensor;

s2, the sensor carrying device 3 carries the yaw rate sensor subjected to preliminary correction onto the test turntable 405, and the clamping mechanism 8 positioned on the test turntable 405 clamps and automatically connects the yaw rate sensor; when all clamping mechanisms 8 on the test turntable 405 are clamped with yaw rate sensors, the test is started;

s3, the rotation driving mechanism drives the yaw rate sensor to rotate until the X-axis direction in the yaw rate sensor is perpendicular to the radius direction of the test turntable 405 (see FIG. 22); the test driving mechanism drives the test turntable 405 to rotate, the acceleration data in the X-axis direction output by the yaw rate sensor is combined with the rotating speed and the rotating radius of the test turntable 405 to judge whether the difference value of the two is within the error allowable range, if the difference value is not within the error allowable range, the control system marks the yaw rate sensor on the clamping mechanism 8;

s4, the rotation driving mechanism drives the yaw rate sensor to rotate until the Y-axis direction in the yaw rate sensor is perpendicular to the radius direction of the test turntable 405 (see FIG. 23); the test driving mechanism drives the test turntable 405 to rotate, the acceleration data in the Y-axis direction output by the yaw rate sensor is combined with the rotating speed and the rotating radius of the test turntable 405 to judge whether the difference value of the two is within the error allowable range, if the difference value is not within the error allowable range, the control system marks the yaw rate sensor on the clamping mechanism 8;

S5, the rotation driving mechanism drives the yaw rate sensor to rotate (see FIG. 24), and difference value operation is carried out on the angular velocity of the rotation driving mechanism and the angular velocity actually output by the yaw rate sensor; if the difference value between the angular velocity of the autorotation driving mechanism and the actual angular velocity output by the yaw rate sensor is not within the error allowable range, the control system marks the yaw rate sensor;

s6, after the test is finished, the sensor conveying device 3 conveys the marked yaw rate sensor to a defective product conveying line in the automatic sensor blanking device 2, and conveys the unmarked yaw rate sensor to the defective product conveying line;

Example 2

Referring to fig. 14 to 21, this embodiment is different from embodiment 1 in that:

in the present embodiment, since it is considered that the road surface on which the automobile is running is not necessarily perfectly flat, for example, when running on a depressed ground, the automobile itself is jolt during running, which is relatively complicated, with not only the movement of the component in the horizontal (for example, X-axis and Y-axis) direction but also the movement of the component in the Z-axis direction, and even with the forward tilting, backward tilting, and left/right tilting; in the prior art, for example, the patent of the utility model with the grant publication number CN209764907U discloses a "yaw rate sensor detection device", which only simulates the optimal running state of the automobile to detect the yaw rate sensor, but even if the accuracy of the yaw rate sensor in the optimal state meets the requirements, in real life, the yaw rate sensor arranged inside the automobile may have errors due to jolt of the automobile, so in order to fully detect the yaw rate sensor as much as possible to avoid accidents, a road surface simulation device is provided in the embodiment to simulate the running state of the automobile on a complex road surface so as to assist the sensor test device 4 to comprehensively test the yaw rate sensor; for this purpose, the road surface simulation device comprises a shake simulation mechanism 6 for simulating the displacement of the vehicle in the horizontal or vertical plane during driving.

Referring to fig. 14-21, the shake simulation mechanism 6 includes an X-axis driving mechanism for driving the carriage 401 to reciprocate in the X-axis direction, a Y-axis driving mechanism for driving the carriage 401 to reciprocate in the Y-axis direction, a Z-axis driving mechanism for driving the carriage 401 to reciprocate in the Z-axis direction, and a mode selection mechanism for selecting one or more of the X-axis driving mechanism, the Y-axis driving mechanism, and the Z-axis driving mechanism to operate; wherein,

the X-axis driving mechanism comprises an X-axis driving seat 601 and an X-axis driving piece 7, wherein the bracket 401 is arranged on the X-axis driving seat 601 through an X-axis sliding mechanism, and the X-axis sliding mechanism is used for promoting the bracket 401 to slide along the X-axis direction; the X-axis driving member 7 is mounted on the support 401, and the X-axis driving member 7 is used for driving the support 401 to move along the X-axis direction;

the Y-axis driving mechanism comprises a Y-axis driving seat 602 and a Y-axis driving piece 9, wherein the X-axis driving seat 601 is arranged on the Y-axis driving seat 602 through a Y-axis sliding mechanism, and the Y-axis sliding mechanism is used for promoting the X-axis driving seat 601 to slide along the Y-axis direction; the Y-axis driving piece 9 is used for driving the X-axis driving seat 601 to move along the Y-axis direction;

The Z-axis driving mechanism comprises a Z-axis driving seat 603 and a Z-axis driving piece 10, wherein the Y-axis driving seat 602 is arranged on the Z-axis driving seat 603 through a Z-axis sliding mechanism, and the Z-axis sliding mechanism is used for promoting the Y-axis driving seat 602 to slide along the Z-axis direction; the Z-axis driving member 10 is configured to drive the Z-axis driving seat 603 to move along the Z-axis direction;

in this embodiment, the X-axis driving member 7, the Y-axis driving member 9, and the Z-axis driving member 10 may each employ a linear motor or a linear cylinder; the linear motor or the linear cylinder forms the mode selection mechanism, and when the displacement of the automobile in different directions is required to be simulated, a plurality of groups of driving modes can be realized only by controlling one or a plurality of groups of mechanisms in the X-axis driving piece 7, the Y-axis driving piece 9 and the Z-axis driving piece 10 to work: the driving mode specifically comprises the following steps: (1) the X-axis direction swings back and forth; (2) swinging back and forth along the Y-axis direction; (3) swinging back and forth along the Z axis direction; (4) X-axis direction back-and-forth swing and Y-axis direction back-and-forth swing; (5) oscillating in the Y-axis direction and oscillating in the Z-axis direction; (6) X-axis direction back-and-forth swing and Z-axis direction back-and-forth swing; (7) The X-axis direction swings back and forth, the Y-axis direction swings back and forth, and the Z-axis direction swings back and forth; (8) Neutral mode (i.e., none of the X-axis drive 7, Y-axis drive 9, and Z-axis drive 10 are active).

In addition to the above manner, the present embodiment adopts the following manner:

referring to fig. 14-21, the X-axis driving member 7 includes an X-axis driving rod, the X-axis driving rod includes an X-axis vertical telescopic rod 705, and a first X-axis horizontal rod 702 and a second X-axis horizontal rod 706 disposed on upper and lower sides of the X-axis vertical telescopic rod 705, wherein one end of the first X-axis horizontal rod 702 is connected to an upper end of the X-axis vertical telescopic rod 705, and the other end is connected to the bracket 401, a mounting groove is disposed on the bracket 401, a round rod 417 is disposed in the mounting groove, the round rod 417 extends along a Y-axis direction, a sliding sleeve 701 is disposed on the first X-axis horizontal rod 702 at a position corresponding to the round rod 417, and the sliding sleeve 701 is mounted on the round rod 417; the second X-axis horizontal rod 706 is located at the lower end of the X-axis vertical telescopic rod 705, one end of the second X-axis horizontal rod 706 is connected with one end of the second X-axis horizontal rod 706, the other end of the second X-axis horizontal rod 706 is slidably connected with the frame 5, and the frame 5 is provided with a sliding hole matched with the second X-axis horizontal rod 706; the Y-axis driving seat 602 is provided with a first supporting frame 704, the first supporting frame 704 is slidably connected with the first X-axis horizontal bar 702, and the first supporting frame 704 is also provided with a sliding hole; a first spring 703 is sleeved on the first X-axis horizontal rod 702, one end of the first spring 703 acts on the first X-axis horizontal rod 702, and the other end acts on the first supporting frame 704; a second spring 707 is disposed between the second X-axis horizontal rod 706 and the frame 5, and the second spring 707 is sleeved on the second X-axis horizontal rod 706, one end of which acts on the frame 5, and the other end of which acts on the X-axis vertical telescopic rod 705.

Referring to fig. 14-21, the Y-axis driving member 9 includes a Y-axis driving rod, which includes a Y-axis vertical telescopic rod 905, and a first Y-axis horizontal rod 902 and a second Y-axis horizontal rod 906 disposed on upper and lower sides of the Y-axis vertical telescopic rod 905, wherein one end of the first Y-axis horizontal rod 902 is connected to an upper end of the Y-axis vertical telescopic rod 905, and the other end is connected to the X-axis driving seat 601; the Z-axis driving seat 603 is provided with a second supporting frame 904, the second supporting frame 904 is slidably connected with the first Y-axis horizontal rod 902, and a sliding hole is formed in the second supporting frame 904; the second X-axis horizontal rod 706 is located at the lower end of the Y-axis vertical telescopic rod 905, one end of the second Y-axis horizontal rod 906 is connected with one end of the Y-axis vertical telescopic rod 905, the other end of the second Y-axis horizontal rod is slidably connected with the frame 5, and the frame 5 is provided with a sliding hole matched with the second Y-axis horizontal rod 906; a third spring 903 is sleeved on the first Y-axis horizontal rod 902, one end of the third spring 903 acts on the first Y-axis horizontal rod 902, and the other end acts on the second support frame 904; a fourth spring 901 is arranged between the second Y-axis horizontal rod 906 and the frame 5, the second spring 707 is sleeved on the second Y-axis horizontal rod 906, one end of the second spring acts on the frame 5, and the other end of the second spring acts on the Y-axis vertical telescopic rod 905.

Referring to fig. 14-21, the Z-axis driving member 10 includes two sets of Z-axis driving plates 1002 and Z-axis driving rods 1001, wherein the upper ends of the two sets of Z-axis driving rods 1001 are connected to the Z-axis driving base 603, the lower ends of the two sets of Z-axis driving rods 1001 are respectively mounted on the Z-axis driving plates 1002, and the lower ends of the Z-axis driving plates 1002 are provided with freely rotatable rollers 1004; the Z-axis sliding mechanism comprises a guide block arranged on the support 401, wherein a guide hole matched with the Z-axis driving rod 1001 is formed in the guide block, a fifth spring 1003 is arranged on the Z-axis driving rod 1001, the fifth spring 1003 is sleeved on the Z-axis driving rod 1001, the upper end of the fifth spring 1003 acts on the guide block, and the lower end of the fifth spring 1003 acts on the Z-axis driving plate 1002.

Referring to fig. 14-21, the mode selection mechanism includes a driving disc 23, a plurality of groups of driving wheels 11 disposed on the driving disc 23, a state selection driving mechanism for driving the driving disc 23 to rotate, and a shaking mode driving mechanism for driving the driving wheels 11 to enter between the X-axis vertical telescopic rod 705, the Y-axis vertical telescopic rod 905 and the roller 1004 (hereinafter referred to as "working area") and driving the driving wheels 11 to rotate, wherein the driving wheels 11 are classified into seven types (i.e., 11A, 11B, 11C, 11D, 11E, 11F, 11G in fig. 20) according to the required driving mechanism (the X-axis driving member 7, the Y-axis driving member 9 and the Z-axis driving member 10); one or more of the X-axis driving section, the Y-axis driving section, and the Z-axis driving section 1103 are provided on the driving wheels 11 of different types, respectively, to realize the corresponding functions; wherein,

The X-axis driving part and the Y-axis driving part are cam driving parts arranged on the wheel surface of the driving wheel 11, the cam driving parts are an X-axis cam driving part 1101 and a Y-axis cam driving part 1102, wherein the X-axis cam driving part 1101 and the Y-axis cam driving part 1102 are respectively contacted with an X-axis vertical telescopic rod 705 and a Y-axis vertical telescopic rod 905 and are respectively used for driving the X-axis vertical telescopic rod 705 to move along the X-axis direction and for driving the Y-axis vertical telescopic rod 905 to move along the Y-axis direction; the Z-axis driving part 1103 is disposed on the upper side of the driving wheel 11, and drives the roller 1004 to vertically move when the Z-axis driving part 1103 rotates, thereby driving the Z-axis driving seat 603 to vertically move;

when the corresponding mechanism is not required to be driven to move, if the X-axis vertical telescopic rod 705 or the Y-axis vertical telescopic rod 905 is required, the cam driving part corresponding to the X-axis vertical telescopic rod 705 or the Y-axis vertical telescopic rod 905 can be set to be circular, so that the corresponding vertical telescopic rod cannot be driven to move; if the Z-axis driving member 10 is used, the upper side surface of the driving wheel 11 may be set to be a flat surface; for this purpose, in this embodiment, seven kinds of driving wheels 11 are all mounted on the driving disc 23, and the driving disc 23 is driven to rotate, so that the corresponding driving wheel 11 moves below the working area; the driving wheel 11 is driven to enter between the X-axis vertical telescopic rod 705, the Y-axis vertical telescopic rod 905 and the roller 1004 (i.e. a working area) by the shaking mode driving mechanism and drives the driving wheel 11 to rotate, so that one or more groups of actions of the X-axis driving piece 7, the Y-axis driving piece 9 and the Z-axis driving piece 10 are driven, and the running state of the automobile on different roads is simulated.

In addition, since the springs (for example, the first spring, the second spring, the third spring, the fourth spring and the fifth spring) are arranged in the X-axis driving member 7, the Y-axis driving member 9 and the Z-axis driving member 10, the reset function is achieved, the corresponding driving seat can be driven to move back and forth, and the corresponding driving member can be ensured to be always contacted with the driving part of the driving wheel.

Referring to fig. 14-21, the state selection driving mechanism includes a rotation shaft 14 and a third rotation driving mechanism for driving the rotation shaft 14 to rotate, wherein an upper end of the rotation shaft 14 is connected with the driving disc 23, and a lower end is rotatably connected with the frame 5; the third rotation driving mechanism comprises a motor seat and a state selection driving motor arranged on the motor seat, wherein a main shaft of the state selection driving motor is connected with an input shaft of a speed reducer, an output shaft of the speed reducer is connected with the rotating shaft 14 through a gear transmission mechanism, and the gear transmission mechanism comprises a first gear 15 arranged on the rotating shaft 14 and a second gear 20 which is arranged on the output shaft of the speed reducer and meshed with the first gear 15; the second gear 20 is driven to rotate by the state selection driving motor, so that the first gear 15 and the driving disc 23 connected with the first gear are driven to rotate, and the corresponding driving wheel 11 is sent to the lower part of the working area.

Referring to fig. 14-21, the dither-pattern driving mechanism includes a vertical driving mechanism for driving the driving wheel 11 located below the work area upward into the work area and a fourth rotational driving mechanism for driving the driving wheel 11 located within the work area to rotate, wherein,

the driving wheel 11 is mounted on a supporting shaft 12, the supporting shaft 12 is connected with the driving disc 23 through a vertical guide mechanism, the vertical guide mechanism comprises a guide seat arranged on the driving disc 23 and a guide hole arranged on the guide seat, and the supporting shaft 12 passes through the guide hole;

the vertical driving mechanism is arranged below the working area and comprises a lifting seat 19 and a lifting driving mechanism 17 (such as a linear motor or an air cylinder) for driving the lifting seat 19 to lift, wherein a supporting part 1901 is arranged on the lifting seat 19, and when the lifting driving mechanism 17 drives the lifting seat 19 to move upwards, the supporting part 1901 on the lifting seat 19 drives the supporting shaft 12 to move upwards, so that the driving wheel 11 is driven to enter the working area;

the fourth rotation driving mechanism includes a third gear 13 provided at a lower end of the support shaft 12, and a selection driving mechanism for driving the third gear 13 to mesh with the second gear 20, wherein,

The motor base is connected to the frame 5 in a sliding manner; the sliding mechanism comprises a sliding seat 16 arranged on the motor base and a sliding rod 18 arranged on the frame 5, wherein one end of the sliding rod 18 is arranged on the sliding seat 16, and the other end of the sliding rod passes through a sliding hole in the frame 5 and is connected with a limiting piece (the diameter is larger than that of the sliding hole); a sixth spring 24 is arranged between the motor base and the frame 5, the sixth spring 24 is sleeved on the sliding rod 16, and the elastic force of the sixth spring 24 drives the second gear 20 to be meshed with the first gear 15;

the selection driving mechanism comprises a hook 1902 arranged on the lifting seat 19 and a driving piece arranged on the sliding seat 16, wherein the driving piece is composed of two groups of connecting plates 21 and a rotating wheel 22 arranged between the two groups of connecting plates 21, one end of each of the two groups of connecting plates 21 is connected with the sliding seat 16, the other end of each of the two groups of connecting plates 21 is respectively connected with two sides of the rotating wheel 22, and the rotating wheel 22 and the connecting plates 21 can be in rotary connection; the gap between the two sets of connecting plates 21 forms a groove; a guide surface extending obliquely upwards is arranged at a part of the hook 1902, which is contacted with the wheel surface of the rotating wheel 22; when the lifting driving mechanism 17 drives the lifting seat 19 to move upwards, a hook 1902 on the lifting seat 19 also enters the groove, meanwhile, the guide surface is always stuck to the wheel surface of the rotating wheel 22, during the process that the lifting driving mechanism 17 drives the lifting seat 19 to move upwards, the horizontal component force of the acting force of the guide surface of the hook 1902 to the wheel surface of the rotating wheel 22 drives the rotating wheel 22 to move towards the third gear 13, so as to drive the sliding seat 16 and a state selection driving motor and a second gear 20 arranged on the sliding seat 16 to move, so that the second gear 20 is separated from the first gear 15 and meshed with the third gear 13, so as to drive the third gear 13 to rotate, thereby driving the driving wheel 11 positioned in a working area to rotate, driving one or more groups of actions of the X-axis driving piece 7, the Y-axis driving piece 9 and the Z-axis driving piece 10, and further driving the sensor testing device 4 to move on a horizontal plane or a vertical plane to simulate different running states of the automobile; when the next test mode is required to be entered, the lifting driving mechanism 17 drives the lifting seat 19 to move downwards, which not only makes the supporting shaft 12 drive the driving wheel 11 to exit the working area downwards, but also makes the hook 1902 on the lifting seat 19 gradually exit the groove downwards, so that under the elastic force of the sixth spring 24, the sliding seat 16 gradually resets (i.e. moves towards the direction away from the third gear 13) until the second gear 20 is meshed with the first gear 15 again, at this time, the state selection driving motor drives the second gear 20 to rotate, and can drive the driving disc 23 to rotate, so that the next driving wheel 11 is conveyed to the lower part of the working area; repeating the above actions to obtain the next test mode; when it is not necessary to simulate the driving state of the vehicle, the driving disc 23 may be driven to a neutral position in which the driving wheel 11 (not shown in the drawing of the specification) may not be provided.

Example 3

Referring to fig. 26, this embodiment is different from embodiment 2 in that:

the road surface simulation device further includes a roll simulation mechanism for simulating a roll of the automobile during running, wherein the roll simulation mechanism includes a front/rear roll simulation mechanism 25 for driving the carriage 401 to swing in the X-axis direction and a left/right roll simulation mechanism 26 for driving the carriage 401 to swing in the Y-axis direction, wherein,

the front/rear roll simulation mechanism includes an X-axis rotation seat provided at a lower end of the stand 401 and an X-axis rotation driving mechanism for driving the X-axis rotation seat to rotate; wherein, the X-axis rotation driving mechanism can adopt a servo motor; the bracket 401 is driven to rotate around the X axis by the X axis rotation driving mechanism, so that the bracket 401 and a testing device arranged on the bracket 401 are driven to tilt forwards or backwards, and the tilt angle can be realized by the rotation angle of a servo motor;

the left/right side tilting simulation mechanism comprises a Y-axis rotating seat arranged at the lower end of the X-axis rotating seat and a Y-axis rotating driving mechanism for driving the Y-axis rotating seat to rotate; wherein, the Y-axis rotation driving mechanism can also adopt a servo motor; the X-axis rotating seat is driven to rotate around the Y axis by the Y-axis rotating driving mechanism, so that the left and right tilting of the support 401 and the testing device arranged on the support 401 is realized, and the same tilt angle can be realized by the rotation angle of the servo motor;

The aim is that: (1) The motion state of the automobile when ascending and descending can be simulated by providing the front/rear roll simulation mechanism 25; (2) By providing the left/right roll simulation mechanism 26, it is possible to simulate the case where the heights of the wheels on the left and right sides are not uniform when the vehicle is traveling on an uneven road, that is, the vehicle is inclined left and right while traveling; (3) The front/rear roll simulation mechanism 25 and the left/right roll simulation mechanism 26 are respectively combined with the shake simulation mechanism 6, so that different running or jolt states of the automobile on different road surfaces can be simulated, whether the detection precision of the yaw rate sensor still meets the precision requirement on different running road surfaces or in different jolt states of the automobile can be tested, and the test is more comprehensive.

Finally, as the road surface simulation device is adopted, although the running state of the automobile on different road surfaces or different jolt states of the automobile are simulated, the theoretical acceleration and the angular velocity are calculated by relatively complex kinematic analysis, so that the influence of the road surface simulation device on the test result is eliminated, and the theoretical acceleration and the angular velocity are calculated; alternatively, the acceleration or angular velocity detected by the detector may be used as a reference or may be used for reference or comparison without using the theoretical acceleration or angular velocity as a reference.

The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims

1. The test system of the yaw rate sensor is characterized by comprising a rack, a sensor automatic feeding device, a sensor automatic discharging device, a sensor test device and a sensor carrying device, wherein the sensor automatic feeding device, the sensor automatic discharging device and the sensor test device are arranged on the rack, the sensor carrying device is used for carrying the yaw rate sensor conveyed by the sensor automatic feeding device into the sensor test device and carrying the yaw rate sensor which is tested into the sensor automatic discharging device,

the clamping mechanisms are multiple groups and are uniformly arranged along the circumferential direction of the test turntable; each group of clamping mechanism comprises a clamping seat arranged on the test turntable, a clamping piece arranged on the clamping seat and a clamping driving mechanism used for driving the clamping piece to clamp and loosen the yaw rate sensor; a plug is arranged on the clamping piece; when the clamping driving mechanism drives the clamping piece to clamp and position the yaw rate sensor, the plug is inserted into a socket of the yaw rate sensor;

The clamping piece comprises a plurality of groups of clamping blocks, and positioning grooves formed by the groups of clamping blocks are matched with the outer contour of the yaw rate sensor to be detected; the device comprises a yaw rate sensor, a control system, a plurality of clamping blocks, a power supply system and a power supply system, wherein one group of clamping blocks is provided with a plug, and the plug is used for supplying power to the yaw rate sensor and transmitting data signals detected by the yaw rate sensor into the control system; the clamping driving mechanism is used for driving the plurality of groups of clamping blocks to do shrinkage motion or expansion motion; the clamping driving mechanism comprises a driving disc and a first rotary driving mechanism for driving the driving disc to rotate, wherein driving grooves are formed in the driving disc at positions corresponding to each group of clamping blocks, each driving groove is an arc-shaped groove, and the distance from each arc-shaped groove to the circle center of the driving disc is gradually reduced along the rotation direction of the driving disc; a sliding mechanism is arranged between each group of clamping blocks and the clamping seat, and comprises a sliding groove arranged on the clamping seat and a sliding rod arranged on the sliding groove, wherein the sliding groove extends along the radial direction of the driving disc, the lower end of the sliding rod is matched with the sliding groove, and the upper end of the sliding rod penetrates through the driving groove and then is connected with the clamping blocks; the first rotary driving mechanism is used for driving the driving disc to rotate, and a plurality of groups of clamping blocks are synchronously contracted to clamp the yaw rate sensor or expanded to loosen the yaw rate sensor;

The conveying device is a conveying manipulator; the first rotary driving mechanism comprises gear teeth arranged on the outer wheel surface of the driving disc and a driving gear arranged on the rotating base of the carrying manipulator, wherein the driving gear is of a half-gear structure; a torsion spring is arranged between the driving disc and the clamping seat, and the elasticity of the torsion spring drives the driving disc to rotate to a state that a plurality of groups of clamping blocks clamp the yaw rate sensor; when the rotating base of the carrying manipulator rotates, the driving gear is meshed with the gear teeth of the driving disc and drives the driving disc to reversely rotate so as to drive a plurality of groups of clamping blocks on the driving disc to open, and when the carrying manipulator places the yaw rate sensor into a positioning groove formed by the plurality of groups of clamping blocks, the carrying manipulator rotates until the driving gear is separated from the gear teeth on the driving disc, and the elasticity of the torsion spring drives the driving disc to rotate so as to drive the plurality of groups of clamping blocks to clamp and wire the yaw rate sensor;

the test driving mechanism comprises a bracket, a rotating shaft arranged on the bracket and a test motor for driving the rotating shaft to rotate, wherein the rotating shaft is connected with the test turntable; the test motor is arranged on the bracket, and a main shaft of the test motor is connected with the rotating shaft through a coupler;

The sensor testing device further comprises variable-diameter driving mechanisms for adjusting the distance between each group of clamping mechanisms and the axle center of the testing turntable, the number of the variable-diameter driving mechanisms is equal to that of the clamping mechanisms, and each group of variable-diameter driving mechanisms is used for adjusting the distance between one group of clamping mechanisms and the middle axle center of the testing turntable; the variable-diameter driving mechanism comprises a sliding groove arranged on the test turntable, a sliding seat arranged in the sliding groove and a linear driving mechanism used for driving the sliding seat to move in the sliding groove along the extending direction of the sliding groove; the sliding groove extends along the diameter direction of the test turntable; the clamping seat is arranged on the sliding seat, a reset spring is arranged between the sliding seat and the test turntable, one end of the reset spring acts on the test turntable, and the other end of the reset spring acts on the sliding seat; the linear driving mechanism comprises an electromagnet arranged on the sliding seat and a magnet arranged in the sliding groove; the magnetic poles and the magnetic force of the electromagnet are changed, so that the sliding seat is driven to do linear motion in the sliding groove, and the distance between each group of clamping mechanisms and the axle center of the test turntable is adjusted.

2. The system for testing a yaw rate sensor according to claim 1, wherein the rotation driving mechanism includes a rotation shaft provided on each group of the holding mechanisms and a rotation driving mechanism for driving the rotation shaft to rotate, wherein,

3. The test system of yaw rate sensor according to claim 2, wherein the rotation driving mechanism further comprises a wheel base adapting mechanism for ensuring that the rotation gear and the rotation gear can always achieve power transmission during the diameter changing of the holding mechanism, the wheel base adapting mechanism being provided between the rotation gear and the rotation gear, comprising a transmission gear and a wheel base adapting driving mechanism for driving the transmission gear to move in a circumferential direction of the test turntable, wherein,

4. A test system for a yaw rate sensor according to claim 3, further comprising road surface simulation means for simulating a running state of the vehicle on a complex road surface, the road surface simulation means comprising a shake simulation mechanism for simulating a displacement of the vehicle on a horizontal or vertical plane during running; the shake simulation mechanism comprises an X-axis driving mechanism for driving the support to reciprocate along the X-axis direction, a Y-axis driving mechanism for driving the support to reciprocate along the Y-axis direction, a Z-axis driving mechanism for driving the support to reciprocate along the Z-axis direction, and a mode selection mechanism for selecting one or more groups of mechanisms of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism to work.

5. The test system of a yaw rate sensor according to claim 4, wherein the road surface simulation device further includes a roll simulation mechanism for simulating a roll of the vehicle during running, wherein the roll simulation mechanism includes a front/rear roll simulation mechanism for driving the bracket to swing in the X-axis direction and a left/right roll simulation mechanism for driving the bracket to swing in the Y-axis direction.

6. A test method for a test system for a yaw rate sensor according to any one of claims 1 to 5, characterized by comprising the steps of: