CN106352894B - A kind of caliberating device of wearable sensor output attitude angle - Google Patents
A kind of caliberating device of wearable sensor output attitude angle Download PDFInfo
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- CN106352894B CN106352894B CN201610659311.8A CN201610659311A CN106352894B CN 106352894 B CN106352894 B CN 106352894B CN 201610659311 A CN201610659311 A CN 201610659311A CN 106352894 B CN106352894 B CN 106352894B
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 36
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 14
- 229910003460 diamond Inorganic materials 0.000 claims description 14
- 239000010432 diamond Substances 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- 239000004020 conductor Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 2
- 235000003283 Pachira macrocarpa Nutrition 0.000 description 2
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- WHKUVVPPKQRRBV-UHFFFAOYSA-N Trasan Chemical compound CC1=CC(Cl)=CC=C1OCC(O)=O WHKUVVPPKQRRBV-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- 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
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- 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
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Abstract
The invention discloses a kind of caliberating devices of wearable sensor output attitude angle, belong to the research field of wearable sensor, can be used for demarcating the attitude angle accuracy that different types of wearable sensor measures.The present apparatus is made of in mechanical structure rotor and pedestal driving portion.The present apparatus is driven there are three rotary freedoms and by direct current generator, guarantee that three degree of freedom 360 degree continuous rotations and can carry out using absolute optical encoder the measurement of three degree of freedom attitude angle using conducting slip ring, while different requirement of experiment can be reached to the operating status of whole device progress real-time control by controller.
Description
Technical field
The invention belongs to the research fields of wearable sensor, and in particular to a kind of wearable sensor output posture
The caliberating device at angle.
Background technique
Wearable sensor is to be integrated with accelerometer, gyroscope and magnetic field sensor and some other necessary mould
A kind of MEMS of block merges accelerometer, original number measured by gyroscope and magnetic field sensor by internal algorithm
According to the current attitude angle of wearable sensor can be obtained.
The order of accuarcy for judging wearable sensor measurement attitude angle, needs to mark the attitude angle that it is exported
It is fixed.Currently, the attitude angle that most researchers only use that automatic Optic Motion Capture System exports wearable sensor is tested
Card, but since automatic Optic Motion Capture System belongs to measurement indirectly to the measurement of attitude angle and has certain measurement error in itself,
In addition, automatic Optic Motion Capture System there is also constraint testee can only in the range of it can be measured that activity and with mark
The disadvantages of its different measuring accuracy of will point method of attaching can also have differences, therefore this method can only be to wearable biography
The attitude angle of sensor output carries out rough verifying.Currently, the also seldom presence pair in the research field of wearable sensor
The device that attitude angle measured by wearable sensor is demarcated.
Summary of the invention
The purpose of the present invention is overcoming problems of the prior art, and provide a kind of wearable sensor output appearance
The caliberating device at state angle solves the technical issues of accuracy for evaluating wearable motion sensor output attitude angle.
In order to achieve the above object, the technical solution adopted in the present invention is as follows: a kind of wearable sensor output appearance
The caliberating device at state angle, including rotor, pedestal driving portion, controller and motor driver；
The rotor includes successively hinged inner frame, middle frame and outer framework, the bottom of the outer framework and pedestal
The outline border driving shaft of driving portion is connected, and drives outer framework rotation by pedestal driving portion；Inside casing electricity is installed on the middle frame
Machine, one end output shaft and inner frame of the inside casing motor are connected, and inside casing encoder is equipped on the inside casing motor, described interior
The shaft of frame encoder is connected with the other end output shaft of inside casing motor；
Center motor is installed, the output shaft of the center motor is by center motor reducer on the outer framework
Frame is connected, and the hinged place of the middle frame and outer framework is equipped with center encoder；
The inside casing motor, center motor and pedestal driving portion are connected with motor driver, motor driver and control
Device processed is connected, and the inside casing encoder, center encoder and pedestal driving portion are connected with controller, are controlled by controller
The start and stop of motor processed, steering, revolving speed, while controller receives the angle signal of encoder feedback, on the one hand realizes to rotor
On the other hand the control of attitude angle is stored received angle information by controller, so as to the angle information that will be obtained
It is compared analysis with the angle that wearable sensor measures, to realize the calibration to wearable sensor output attitude angle.
Further, the inside casing motor is Dual-output shaft motor.
Further, the inner frame is acrylic board, and the shaft two sides of the acrylic board are symmetrically provided with permutation hole；Institute
The both ends for stating acrylic board have been respectively fixedly connected with vertical rolling bearing units and I-shaped structure fixed frame；It is equipped on the middle frame
Diamond shape rolling bearing units are driven axis connection by inside casing between the vertical rolling bearing units and diamond shape rolling bearing units；The I-shaped knot
The output shaft fixed connection of structure fixed frame and inside casing motor.
Further, Weight plate is installed on the middle frame, for the rotary inertia of frame when rotated in balancing.
Further, the hinged place of the middle frame and outer framework is also equipped with center conducting slip ring；The center is conductive
The outer ring of slip ring is fixed on outer framework, and center driven shaft, the center driven shaft branch are equipped on the center conducting slip ring
It holds on outer framework, the inner ring of the center conducting slip ring is fixedly connected with center driven shaft, one end of the center driven shaft
It is fixedly connected with middle frame, the other end is fixedly connected with the shaft of center encoder.
Further, the pedestal driving portion include pedestal, it is outline border motor, outline border motor reducer, shaft coupling, actively same
Walk belt wheel, outline border conducting slip ring, outline border driving shaft, synchronous belt, driven synchronous pulley, outline border driven shaft, outline border encoder；It is described
Outline border motor, outline border motor reducer, shaft coupling, outline border driving shaft are sequentially connected, and the outline border motor reducer is fixed on bottom
On seat, the outline border is actively pivotally supported on pedestal；Outline border conducting slip ring is arranged on the outline border driving shaft, the outline border is led
The inner ring of electric slip ring is fixedly connected with outline border driving shaft, and the outer ring of outline border conducting slip ring is fixedly connected with pedestal；The outline border master
Active synchronization belt wheel is also arranged on moving axis；The outline border is driven to be pivotally supported on pedestal, and one end of outline border driven shaft is fixed to be connected
It is connected to driven synchronous pulley, the other end is connected with the shaft of outline border encoder, and the outline border encoder is mounted on the base；It is described
It is connected between active synchronization belt wheel and driven synchronous pulley by synchronous belt；The inside casing motor and inside casing encoder are and center
The rotor wire of conducting slip ring is connected；Stator conductor, center motor and the center encoder of the center conducting slip ring are and outside
The rotor wire of frame conducting slip ring is connected, and the stator conductor of outline border conducting slip ring is connected with controller and motor driver respectively；
The outline border encoder is connected with controller, and the outline border motor is connected with motor driver.
Further, the middle frame, outer framework and pedestal are built by aluminum profile.
Further, the center conducting slip ring and outline border conducting slip ring are via hole type conducting slip ring.
Further, the inside casing encoder, center encoder and outline border encoder are absolute optical encoder.
The beneficial effects of the present invention are:
(1) this caliberating device is there are three rotary freedoms, and by using via hole type conducting slip ring, three degree of freedom can
360 degree of continuous revolutions are enough carried out, the attitude angle of any position can be generated.
(2) acrylic board is used by inner frame structure, rotor structure carries out building for frame using aluminum profile, reduces
The use of ferrous element, while increasing the ferrous element used at a distance from the wearable sensor being calibrated, it can be effective
Ground prevents from causing magnetic interference to the magnetic field sensor in wearable sensor.
(3) by using absolute optical encoder, the present apparatus is very high to the resolution ratio of angle and can be independently right
Wearable sensor carries out static demarcating and dynamic calibration.
It (4), can be to the revolving speed of the motor of driving this caliberating device three degree of freedom rotation, rotation by using single-chip microcontroller
Direction and starting stop carrying out real-time control.
Detailed description of the invention
Fig. 1 is the axis side structure figure of the embodiment of the present invention；
Fig. 2 is the top view of the embodiment of the present invention；
Fig. 3 is the outer framework structural schematic diagram of the embodiment of the present invention；
Fig. 4 is the outer framework top view of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the rotor of the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of the pedestal driving portion of the embodiment of the present invention；
Fig. 7 is the circuit connection diagram of the embodiment of the present invention；
Fig. 8 is the schematic diagram of present invention calibration wearable sensor；
In figure, aluminum profile 1, profile corner fittings 2, vertical rolling bearing units 3, center diamond shape rolling bearing units connecting plate 4, inside casing transmission
Axis 5, diamond shape rolling bearing units 6, acrylic board 7, I-shaped structure fixed frame 8, inside casing connecting plate for electric motor 9, middle frame section fixed plate 10,
Inside casing encoder connecting plate 11, inside casing encoder 12, inside casing encoder fixed plate 13, inside casing motor 14, inside casing motor drive part
15, Weight plate 16, heightening frame 17, center motor drive part 18, center motor 19, center motor reducer 20, center motor subtracts
Fast device connecting plate 21, center slave drive plate 22, center conducting slip ring 23, center diamond shape rolling bearing units 24, sleeve 25, center are compiled
Code device fixed plate 26, outline border securing plate 27, center driven shaft 28, center diamond shape rolling bearing units fixed plate 29, center conducting slip ring
Turn round fixing piece 30, center encoder connecting plate 31, center encoder 32, outline border motor 33, outline border motor reducer 34, outline border
Motor reducer connecting plate 35, shaft coupling 36, active synchronization belt wheel 37, drive shaft bearing boring cover 38, drive shaft bearing frame 39 are main
Moving axis bearing bracket stand connecting plate 40, outline border conducting slip ring 41, outline border driving shaft 42, floating bearing 43, floating bearing base fixing plate
44, synchronous belt 45, driven synchronous pulley 46, outline border driven shaft 47, driven shaft bearing bracket stand connecting plate 48, driven shaft bearing bracket stand 49,
Driven axle bearing boring cover 50, outline border encoder fixed plate 51, outline border encoder connecting plate 52, outline border encoder 53, spline drived
Plate 54, wearable sensor 55, three-axis reference 56.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
Fig. 1 illustrates the axis side structure figure of the embodiment of the present invention comprising rotor, pedestal driving portion, motor driver
(not shown) and controller (not shown)；
The rotor includes successively hinged inner frame, middle frame and outer framework, and the bottom of outer framework and pedestal drive
The outline border driving shaft in dynamic portion is connected, and outer framework rotation is driven by pedestal driving portion, for providing needed for generating triaxial attitude angle
Three rotary freedoms；
The pedestal driving portion is used to support and drives the rotation of outer framework and measures the attitude angle of outer framework；
The controller for controlling the movement of wearable sensor caliberating device according to user instructions.
Fig. 2 is the top view of the embodiment of the present invention, and in rotor, acrylic board 7 is uniformly provided with whole in its rotation axis two sides
Hole is arranged, for reducing rotary inertia；Vertical rolling bearing units 3 are connected by bolt with one end of acrylic board 7, vertical axis of usheing to seat
The setting equal power plate of aluminum between 3 and acrylic board 7 is held, for reducing bolt when fixed to the pressure of acrylic board 7.At sub- gram
I-shaped structure fixed frame 8 is equally fixedly connected, I-shaped structure fixed frame by the other end of power plate 7 using bolt with acrylic board 7
The equal power plate of aluminum is set between 8 and acrylic board 7；Inside casing motor drive part 15 is fixed by bolts in I-shaped structure fixed frame
On 8；
Middle frame is connected by aluminum profile 1 with profile corner fittings 2, and diamond shape rolling bearing units 6 pass through center diamond shape rolling bearing units
Connecting plate 4 is fixed on middle frame, in the other end of middle frame, during inside casing motor 14 is fixed on by inside casing connecting plate for electric motor 9
On frame, inside casing motor 14 is using double output shaft electric machines；Inside casing encoder fixed plate 13 is fixed on inside casing motor 14 with bolt,
Inside casing encoder 12 is fixed in inside casing encoder fixed plate 13 by inside casing encoder connecting plate 11, the rear end of inside casing motor 14
Output shaft is connected with the shaft of inside casing encoder 12；Middle frame section fixed plate 10 is fixed on middle frame by T-bolt, is used for
Frame in reinforcing.Weight plate 16 is fixed on middle frame by heightening frame 17, used for the rotation of frame when rotated in balancing
Amount.For inner frame in rotor in the connection of middle frame, one end passes through inside casing transmission shaft 5 for vertical rolling bearing units 3 and water chestnut
Shape rolling bearing units 6 are fixed as concentric and pass through holding screw for the bearing inner race of vertical rolling bearing units 3 and diamond shape rolling bearing units 6
It is circumferential locked with inside casing transmission shaft 5；The front end output shaft of inside casing motor 14 is inserted into inside casing motor drive part 15 by the other end,
The biography of inside casing motor rotation formula is carried out using interference fit and holding screw by the two fixation and by inside casing motor drive key
It is dynamic.
Fig. 3 is the outer framework structural schematic diagram of the embodiment of the present invention, and Fig. 4 is that the outer framework of the embodiment of the present invention is overlooked
Figure, center motor 19 and center motor reducer 20 form center motor suit, and center motor reducer 20 passes through center motor
Retarder connecting plate 21 is fixed on outer framework, and center motor drive part 18 is fixed by interference fit, double bond and holding screw
In on the output shaft of center motor reducer 20, used in the rotation formula of the output shaft of center motor reducer 20 to be passed to
Frame.Center encoder fixed plate 26 and center diamond shape rolling bearing units fixed plate 29 are fixed on the other end of outer framework, center water chestnut
Shape rolling bearing units 24 are opposite in pairs to be installed on center encoder connecting plate 26 and center diamond shape rolling bearing units fixed plate 29, and is led to
It crosses sleeve 25 and carries out axial fixation to center driven shaft 28.By holding screw by center conducting slip ring 23 be fixed on center from
One end of moving axis 28, and center slave drive plate 22 is fixed on by center driven shaft by interference fit, double bond and holding screw
The shaft end of 28 the same sides, center slave drive plate 22 are fixedly connected by T-bolt with middle frame；Center encoder 32 passes through tight
Determine screw and 28 other side shaft end Peripheric locking of center driven shaft, while center encoder 32 passes through center encoder connecting plate 31
It is fixed in center encoder fixed plate 26.Outline border securing plate 27 is fixed on outter frame profile base of frame profile right angle joint,
For section material framework to be fixed.Center conducting slip ring revolution fixing piece 30 is fixed on center diamond shape rolling bearing units fixed plate 29
On, it is carried out for the outer ring to center conducting slip ring 23 circumferentially fixed.
Fig. 5 is the structural schematic diagram of the rotor of the embodiment of the present invention, and rotor structure is connected by outline border floating bearing
Plate is connected with the inner ring of pedestal floating bearing 43, and outline border driving shaft 42 is driven by being fixed on the spline drived plate 54 of outer framework
Outer framework is rotated.
Fig. 6 is the structural schematic diagram of the pedestal driving portion of the embodiment of the present invention, outline border motor 33 and outline border motor reducer
34 composition outline border motor suits, are fixed on the base by outline border motor reducer connecting plate 35.Outline border motor reducer 34 is logical
It crosses shaft coupling 36 and rotation formula is passed into outline border driving shaft 42, tapered roller bearing is opposite in pairs to be mounted on drive shaft bearing frame
In 39 and with the side outer ring of 38 fixing bearing of drive shaft bearing boring cover, bearing other side outer ring is fixed and is passed through with annulus top plate
Tapered roller bearing positions outline border driving shaft 42.Drive shaft bearing frame 39 is fixed by drive shaft bearing frame connecting plate 40
On pedestal, outline border conducting slip ring 41 is fixed on outline border driving shaft 42 by holding screw, and with being fixed on drive shaft bearing
Optical axis on frame connecting plate 40 carries out the outer ring of outline border conducting slip ring 41 circumferentially fixed.Active synchronization belt wheel 37 passes through clamp screw
Nail is fixed on outline border driving shaft 42 and passes through synchronous belt 45 and driven synchronous pulley 46 for the rotation formula of outline border driving shaft 42
Outline border driven shaft 47 is passed to, tapered roller bearing is opposite in pairs to be mounted in driven shaft bearing bracket stand 49, driven shaft bearing bracket stand 49
It is fixed on the base by driven shaft bearing bracket stand connecting plate 48, while driven axle bearing boring cover 50 is fixed on driven shaft bearing bracket stand 49
Bottom.Outline border encoder 53 is fixed in outline border encoder fixed plate 51 by outline border encoder connecting plate 52, and passes through bolt
Outline border encoder fixed plate 51 is fixed on pedestal.Floating bearing 43 is fixed on pedestal by floating bearing base fixing plate 44
On section material framework, it is used to support rotor and can be rotated relative to pedestal.
The controller that this caliberating device uses be single-chip microcontroller, and with the encoder and motor driver phase in the present apparatus
Even, for obtaining the measurement data of encoder and controlling the motion mode of rotor.
The middle frame, outer framework and pedestal are built by aluminum profile.
The inside casing encoder 12, center encoder 32 and outline border encoder 53 are absolute optical encoder.
The outline border conducting slip ring 41 and center conducting slip ring 23 are via hole type conducting slip ring.
As shown in fig. 7, being the circuit connection diagram of the embodiment of the present invention, wherein the inside casing motor 14 and inside casing encoder
12 are connected with the rotor wire of center conducting slip ring 23；Stator conductor, 19 and of center motor of the center conducting slip ring 23
Center encoder 32 is connected with the rotor wire of outline border conducting slip ring 41, the stator conductor of outline border conducting slip ring 41 respectively with control
Device processed is connected with motor driver, i.e., inside casing motor 14 passes through center conducting slip ring 23 and outline border conducting slip ring 41 and motor driven
Device is connected, and inside casing encoder 12 is connected by center conducting slip ring 23 and outline border conducting slip ring 41 with controller, center motor 19
It is connected by outline border conducting slip ring 41 with motor driver, center encoder 32 passes through outline border conducting slip ring 41 and controller phase
Even；In addition, outline border motor 33 and outline border encoder 53 are arranged on pedestal, coiling problem is not present, so outline border encoder 53
Directly it is connected with controller, the outline border motor 33 is directly connected with motor driver.
Fig. 8 is the schematic diagram of present invention calibration wearable sensor, and the wearable sensor 55 demarcated will be needed to consolidate
It is scheduled on acrylic board 7,56 be three-axis reference, X-axis, Y-axis, and Z axis respectively corresponds the inner frame of caliberating device, middle frame, outer
Frame can at different conditions demarcate wearable sensor by controller user, such as following 3 kinds of situations but
It is not limited to this 3 kinds of situations: 1) caliberating device can be made to be in any attitude, 3 axis for examining wearable sensor 55 to export
Angular error, i.e. progress static demarcating；2) the single freedom degree rotating of the control present apparatus carries out the calibration at single-axis attitude angle；3) make this
Device three degree of freedom rotates the dynamic calibration for carrying out XYZ triaxial attitude angle simultaneously.Controller is one to the control mode of three axis
It causes, the control process of this caliberating device is illustrated by taking the control to Y-axis as an example.After starting caliberating device, issued by controller
Control signal and arrive center motor 19 via motor driver, outline border conducting slip ring 41, thus realize to the start and stop of center motor 19,
Turn to the control with revolving speed.Center encoder 32 can be sampled with angle of the frequency of 200Hz to Y-axis, by collected angle
It spends information and returns to controller, the angle stored by controller, when analysis, by what is recorded via outline border conducting slip ring 41
The absolute pose angle of encoder measurement passes through data processing software with attitude angle measured by the wearable sensor being calibrated
It compares and analyzes, the control information of demarcated wearable sensor output attitude angle just can be obtained, thus to that can wear
The attitude angle for wearing the output of formula sensor is demarcated.
Claims (9)
1. a kind of caliberating device of wearable sensor output attitude angle, it is characterised in that: driven including rotor, pedestal
Portion, controller and motor driver etc.；
The rotor includes successively hinged inner frame, middle frame and outer framework, and the bottom of the outer framework and pedestal drive
The outline border driving shaft (42) in portion is connected, and drives outer framework rotation by pedestal driving portion；Inside casing electricity is installed on the middle frame
Machine (14), one end output shaft and inner frame of the inside casing motor (14) are connected, and are equipped with inside casing on the inside casing motor (14)
The shaft of encoder (12), the inside casing encoder (12) is connected with the other end output shaft of inside casing motor (14)；
It is equipped on the outer framework center motor (19), the output shaft of the center motor (19) passes through center motor reducer
(20) it is connected with middle frame, the hinged place of the middle frame and outer framework is equipped with center encoder (32)；
The inside casing motor (14), center motor (19) and pedestal driving portion are connected with motor driver, motor driver
It is connected with controller, the inside casing encoder (12), center encoder (32) and pedestal driving portion are connected with controller, lead to
Controller is crossed to control the start and stop of motor, steering, revolving speed, while controller receives the angle signal of encoder feedback, on the one hand
Realize on the other hand the control to rotor attitude angle is stored received angle information by controller, to obtain
Angle information be compared analysis with the angle that wearable sensor measures, thus realize to wearable sensor export posture
The calibration at angle.
2. the caliberating device of wearable sensor output attitude angle according to claim 1, it is characterised in that: in described
Frame motor (14) is Dual-output shaft motor.
3. the caliberating device of wearable sensor output attitude angle according to claim 1, it is characterised in that:
The inner frame is acrylic board (7), and the shaft two sides of the acrylic board (7) are symmetrically provided with permutation hole；Described sub- gram
The both ends of power plate (7) have been respectively fixedly connected with vertical rolling bearing units (3) and I-shaped structure fixed frame (8)；Pacify on the middle frame
Equipped with diamond shape rolling bearing units (6), pass through inside casing transmission shaft (5) between the vertical rolling bearing units (3) and diamond shape rolling bearing units (6)
Connection；The I-shaped structure fixed frame (8) is fixedly connected with the output shaft of inside casing motor (14).
4. the caliberating device of wearable sensor output attitude angle according to claim 1, it is characterised in that: in described
Weight plate (16) are installed, for the rotary inertia of frame when rotated in balancing on frame.
5. the caliberating device of wearable sensor output attitude angle according to claim 1, it is characterised in that:
The hinged place of the middle frame and outer framework is also equipped with center conducting slip ring (23)；The center conducting slip ring (23)
Outer ring is fixed on outer framework, is equipped with center driven shaft (28) on the center conducting slip ring (23), the center driven shaft
(28) be supported on outer framework, the inner ring of the center conducting slip ring (23) is fixedly connected with center driven shaft (28), it is described in
One end of frame driven shaft (28) is fixedly connected with middle frame, and the other end is fixedly connected with the shaft of center encoder (32).
6. the caliberating device of wearable sensor output attitude angle according to claim 5, it is characterised in that: described
Pedestal driving portion includes pedestal, outline border motor (33), outline border motor reducer (34), shaft coupling (36), active synchronization belt wheel
(37), outline border conducting slip ring (41), outline border driving shaft (42), synchronous belt (45), driven synchronous pulley (46), outline border driven shaft
(47), outline border encoder (53)；The outline border motor (33), outline border motor reducer (34), shaft coupling (36), outline border driving shaft
(42) it is sequentially connected, the outline border motor reducer (34) is fixed on the base, and the outline border driving shaft (42) is supported on pedestal
On；It is arranged with outline border conducting slip ring (41) on the outline border driving shaft (42), the inner ring of the outline border conducting slip ring (41) and outer
Frame driving shaft (42) is fixedly connected, and the outer ring of outline border conducting slip ring (41) is fixedly connected with pedestal；The outline border driving shaft (42)
On be also arranged with active synchronization belt wheel (37)；The outline border driven shaft (47) is supported on pedestal, and the one of outline border driven shaft (47)
End is fixedly connected with driven synchronous pulley (46), and the other end is connected with the shaft of outline border encoder (53), the outline border encoder
(53) it is mounted on the base；Pass through synchronous belt (45) phase between the active synchronization belt wheel (37) and driven synchronous pulley (46)
Even；The inside casing motor (14) and inside casing encoder (12) are connected with the rotor wire of center conducting slip ring (23)；In described
Stator conductor, center motor (19) and the center encoder (32) of frame conducting slip ring (23) with outline border conducting slip ring (41) turn
Sub-conductor is connected, and the stator conductor of outline border conducting slip ring (41) is connected with controller and motor driver respectively；The outline border is compiled
Code device (53) is connected with controller, and the outline border motor (33) is connected with motor driver.
7. the caliberating device of wearable sensor output attitude angle according to claim 6, it is characterised in that: described
Middle frame, outer framework and pedestal are built by aluminum profile.
8. the caliberating device of wearable sensor output attitude angle according to claim 6, it is characterised in that: described
Center conducting slip ring (23) and outline border conducting slip ring (41) are via hole type conducting slip ring.
9. the caliberating device of wearable sensor output attitude angle according to claim 6, it is characterised in that: described
Inside casing encoder (12), center encoder (32) and outline border encoder (53) are absolute optical encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610659311.8A CN106352894B (en) | 2016-08-12 | 2016-08-12 | A kind of caliberating device of wearable sensor output attitude angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610659311.8A CN106352894B (en) | 2016-08-12 | 2016-08-12 | A kind of caliberating device of wearable sensor output attitude angle |
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| Publication Number | Publication Date |
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| CN106352894A CN106352894A (en) | 2017-01-25 |
| CN106352894B true CN106352894B (en) | 2019-01-18 |
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| CN201610659311.8A Active CN106352894B (en) | 2016-08-12 | 2016-08-12 | A kind of caliberating device of wearable sensor output attitude angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107697654A (en) * | 2017-10-26 | 2018-02-16 | 常州机电职业技术学院 | Can continuous rotary automatic loaded steamer device |
| CN108548941B (en) * | 2018-04-23 | 2020-08-25 | 歌尔股份有限公司 | Rotary testing device |
| CN112833868A (en) * | 2019-12-16 | 2021-05-25 | 天津海翼科技有限公司 | Electronic compass calibration tool |
| CN111578978B (en) * | 2020-05-13 | 2021-06-08 | 青岛智腾微电子有限公司 | High-precision sensor calibration workbench |
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|---|---|
| CN106352894A (en) | 2017-01-25 |
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