CN108744500B - Handlebar transmission device convenient for measuring angle - Google Patents
Handlebar transmission device convenient for measuring angle Download PDFInfo
- Publication number
- CN108744500B CN108744500B CN201810668392.7A CN201810668392A CN108744500B CN 108744500 B CN108744500 B CN 108744500B CN 201810668392 A CN201810668392 A CN 201810668392A CN 108744500 B CN108744500 B CN 108744500B
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- China
- Prior art keywords
- frame disc
- handlebar
- main shaft
- gyroscope
- horizontal
- Prior art date
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000009987 spinning Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
- A63F13/245—Constructional details thereof, e.g. game controllers with detachable joystick handles specially adapted to a particular type of game, e.g. steering wheels
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1043—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being characterized by constructional details
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1062—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted to a type of game, e.g. steering wheel
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a handlebar transmission device convenient for measuring angles, which comprises a rotating main shaft connected with a handlebar, wherein the tail end of the rotating main shaft is arranged on a middle frame disc, an upper frame disc is also arranged on the rotating main shaft, and the bottom of the upper frame disc is provided with a horizontal constraint torsion spring; the driving rotating shaft rotates relative to the frame disc, the middle frame disc is provided with a gyroscope module, the gyroscope module comprises a pair of vertically matched gears, the horizontal gears are arranged on the rotating main shaft, the vertical gears are arranged at the end parts of the small rotating shafts, the gyroscope is arranged on the other side of the small rotating shafts, and the small rotating shafts are arranged on the middle frame disc through bearing seats. The invention has the beneficial effects that the horizontal rotary motion of the handlebar is converted into the vertical rotary motion while the handlebar of the spinning bicycle can move, and the rolling angle is measured by using the gyroscope to replace the yaw angle measurement, so that the purpose of accurately measuring the horizontal rotation angle of the handlebar is achieved.
Description
Technical Field
The invention belongs to the technical field of rotation angle measurement, and particularly relates to a handlebar transmission device convenient for measuring angles.
Background
The six-axis sensor module is an angle sensor fused with a three-axis gyroscope and a three-axis accelerometer, and can measure the angular velocity of rigid body rotation, and the angular velocity can be synthesized into Euler angles, including a Yaw angle Yaw, a Pitch angle Pitch and a Roll angle Roll. Due to the errors of the gyroscopic device itself, there is a drift of the three axes of the gyroscope over time, and the measured angle will change over time when the gyroscope is stationary. Or when the rigid body rotates, the angular velocity is not constant, and when the angular velocity is close to 0, the three-axis gyroscope cannot measure the angular velocity when the rigid body rotates due to the limitation of the measuring range, so the angle measured by integrating the angular velocity with time is almost 0. Both of these conditions can lead to angular inaccuracies in the gyroscope measurements.
The six-axis sensor module (gyroscope) comprises a triaxial accelerometer, when the accelerometer rotates around an X axis or a y axis of a three-dimensional coordinate system taking the center of the accelerometer as an origin, a certain included angle is formed between the X axis or the y axis and gravity, and the accelerometer can obtain the rotation angle around the X axis or the y axis by measuring the included angle between the accelerometer and gravity during rotation, namely a Pitch angle Pitch and a Roll angle Roll. The pitch angle and the roll angle measured by the accelerometer are used for compensating the rotation angles in the x-axis direction and the y-axis direction measured by the gyroscope, so that the pitch angle and the roll angle can be obtained more accurately. However, when the accelerometer rotates around the z-axis (horizontal rotation), the included angle between the z-axis and gravity is always 0, so that the horizontal rotation angle of the accelerometer cannot be obtained to compensate the Yaw angle Yaw measured by the gyroscope. Therefore, the yaw angle measured by the six-axis sensor may have an error. A conventional six-axis gyroscope module is often added with a three-axis magnetometer, and the error of the yaw angle is compensated by measuring the included angle between the magnetometer and the geomagnetic field. However, magnetometers have severe requirements on the use environment and are easily affected by the magnetic field of the surrounding environment, so that measurement results are inaccurate.
The common game device takes a game bicycle as an example, the motion angle of the handlebar is generally measured through a gyroscope, and the accurate motion angle is transmitted to an upper computer to perform stable and accurate game operation, a singlechip chip with a gyroscope module is directly arranged on the handlebar, the azimuth angle of the handlebar is directly measured through the gyroscope, the horizontal rotation angle of the handlebar is generally measured through the yaw angle of the gyroscope, and due to the reasons, the gyroscope cannot accurately measure the horizontal rotation angle of the handlebar when the rotation speed or the angle change of the handlebar is small, so that the game operation is not smooth and the game effect is seriously influenced.
Disclosure of Invention
In order to solve the technical problems, the invention provides the handlebar transmission device convenient for measuring the angle, which aims to ensure that the handlebar of the spinning bicycle can move and simultaneously convert the horizontal rotation motion of the handlebar into the vertical rotation motion, and the rolling angle is measured by using a gyroscope to replace the yaw angle, so that the aim of accurately measuring the horizontal rotation angle of the handlebar is fulfilled.
The technical scheme of the invention is as follows:
the handlebar transmission device convenient for measuring the angle comprises a rotating main shaft connected with a handlebar, wherein the tail end of the rotating main shaft is arranged on a middle frame disc, an upper frame disc is further arranged on the rotating main shaft, and a horizontal constraint torsion spring is arranged at the bottom of the upper frame disc; the driving rotating shaft rotates relative to the frame disc, the middle frame disc is provided with a gyroscope module, the gyroscope module comprises a pair of vertically matched gears, the horizontal gears are arranged on the rotating main shaft, the vertical gears are arranged at the end parts of the small rotating shafts, the gyroscope is arranged on the other side of the small rotating shafts, and the small rotating shafts are arranged on the middle frame disc through bearing seats.
Compared with the prior art, the scheme is based on gear turning transmission, the concept of replacing yaw angle with the Roll angle of the gyroscope is designed, the handlebar transmission device for measuring the angle is designed, when the handlebar is stressed to horizontally rotate, the transmission main shaft rotates relative to the discs of each frame and drives the vertical gear to rotate through the horizontal gear, so that the gyroscope is driven to rotate, the Roll angle Roll of the gyroscope can be accurately measured, the horizontal rotation angle of the handlebar can be accurately obtained through conversion, the horizontal constraint torsion spring is in a compressed state at the moment, and when the handlebar is not stressed, the rotation main shaft is automatically reset left and right.
Based on the scheme, the invention also makes the following improvements:
further, the device also comprises a lower frame disc hinged with the middle frame disc, the lower frame disc is fixedly connected with the vehicle body, the middle frame disc is hinged with the lower frame disc through an ear plate and a pin shaft, and a pitching constraint spring is further arranged on the pin shaft. The technical improvement realizes the pitching movement of the handlebar, when the handlebar is stressed to pitch back and forth, the disks of the handlebar to the middle frame pitch back and forth relative to the frame, at the moment, the pitching constraint torsion spring is in a compressed state, and when the handlebar is not stressed, the main shaft automatically resets back and forth; in the technical scheme, the handlebar can rotate and Pitch at the same time to score pitching motion left and right, the Roll angle Roll and the Pitch angle Pitch of the handlebar can be accurately measured, and the horizontal corner and the front-back Pitch angle of the handlebar can be accurately obtained through conversion.
Further, the horizontal constraint torsion springs comprise two, a pair of fixed rods are arranged at the bottom of the upper frame disc, one ends of the two horizontal torsion springs are respectively in contact with one fixed rod, driving rods matched with the fixed rods are arranged on the rotating main shaft, and the other ends of the two horizontal torsion springs are respectively in contact with the corresponding driving rods.
Further, the rotating main shaft is assembled with the upper frame disc through tapered roller bearings and bearing retainer rings, and the lower frame disc is connected with the upper frame disc through three bolt rods.
The invention has the advantages that in the process of the movement of the handle bar, the transmission is accurate and efficient, the movement is flexible and convenient to operate and install, the stable mechanical structure is combined with the gyroscope to accurately measure the movement angle of the handle bar on the premise of meeting the requirement of transmitting the power of the normal movement of the handle bar, the problem that the accuracy of measuring the rotation angle of the handle bar by using the yaw angle in the traditional mode of the gyroscope is not high is effectively solved, the measuring accuracy is high, the reaction is quick, and the angle measuring operation of various game bicycles or equipment with similar handle bar actions can be met.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the horizontal restraining torsion spring of the present invention;
fig. 3 is a schematic diagram of a gyroscope module according to the present invention.
In the figure, 1, a main shaft is rotated; 11. a bearing retainer ring; 12. a driving rod; 2. a disk of an upper frame; 21. a fixed rod; 22. a screw; 3. a middle frame disc; 31. a bolt rod; 32. ear plates; 4. a lower frame disc; 5. a horizontal constraint torsion spring; 6. a gyroscope module; 61. a horizontal bevel gear; 62. a vertical bevel gear; 63. a small rotating shaft; 64. a gyroscope; 65. a bearing seat; 7. pitch constrained torsion springs.
Detailed Description
As shown in fig. 1, the handlebar transmission device convenient for measuring angles comprises a rotating main shaft 1 connected with a handlebar, wherein the tail end of the rotating main shaft 1 is arranged on a middle frame disc 3, an upper frame disc 2 is further arranged on the rotating main shaft 1, and a horizontal constraint torsion spring 5 is arranged at the bottom of the upper frame disc 2; the lower frame disc 4 is hinged with the middle frame disc 3, the lower frame disc 4 is fixedly connected with the vehicle body, the middle frame disc 3 and the lower frame disc 4 are hinged through an ear plate 32 and a pin shaft, and a pitching constraint spring 7 is further arranged on the pin shaft.
As shown in fig. 2, the upper part of the transmission main shaft 1 is directly provided with a handle bar and is assembled on the upper frame disc 2 through a matched bearing retainer ring 11 and a tapered roller bearing, the tail end of the handle bar is arranged on the middle frame disc, and the horizontal rotation of the handle bar is transmitted by the transmission main shaft 1; the upper frame disc 2 is connected with the middle frame disc 3 through three bolt rods 31 on the middle frame disc; the lower frame disc and the frame main body are fixedly connected into a whole through welding. The horizontal constraint torsion springs 5 are two torsion springs arranged at the lower part of the upper frame disc, and the positions of the two torsion springs are fixed by screws 22; the bottom of the upper frame disc 2 is provided with a pair of fixed rods 21, one ends of the two horizontal constraint torsion springs 5 are respectively contacted with one fixed rod 21, the rotating main shaft 1 is provided with a driving rod 12 matched with the fixed rod 21, and the other ends of the two horizontal constraint torsion springs are respectively contacted with the corresponding driving rods 12. When the transmission main shaft rotates, the fixed rod 21 and the driving rod 12 rotate relatively, the torsion spring is compressed to provide horizontal rotation constraint force, and the handlebar can automatically reset left and right after losing force.
As shown in fig. 3, the gyroscope module comprises a pair of vertical gears 61 and 62 which are vertically matched, the horizontal gear 61 is arranged on the main shaft rotation 1, a vertical gear 602 is arranged on one side of a small rotating shaft 63, a gyroscope 64 is arranged on the other side of the small rotating shaft, and the gyroscope is arranged on the middle frame disc 3 by a bearing seat 65 and can measure any rotation and pitching angle of a handlebar; the pitching constraint torsion springs 7 are four torsion springs which are arranged on pin shafts between the middle frame disc and the lower frame disc through shaft sleeves, and when the handlebar is pitching back and forth relative to the frame, the torsion springs are compressed to provide pitching constraint force, so that the handlebar can automatically reset in the front-back direction after losing force.
When the handle bar is stressed to horizontally rotate, the transmission main shaft 1 rotates relative to the discs of each frame, and drives the vertical gear 62 to rotate through the horizontal gear 601, so that the gyroscope 64 is driven to rotate, the Roll angle Roll of the gyroscope can be accurately measured, and the horizontal rotation angle of the handle bar can be accurately obtained through conversion; when the handlebar is stressed to Pitch forwards and backwards, the spindle 1 to the middle frame disc 3 perform pitching forwards and backwards relative to the frame, and the Pitch angle Pitch of the gyroscope, namely the Pitch angle Pitch of the handlebar forwards and backwards, can be accurately measured. The handlebar generally rotates and pitching left and right to score pitching motion simultaneously, at the moment, the gyroscope can accurately measure the Roll angle Roll and the Pitch angle Pitch of the gyroscope simultaneously, namely, the horizontal corner and the front-back Pitch angle of the handlebar can be accurately obtained, when the handlebar is not stressed, the handlebar can automatically reset to the original position under the action of the horizontal constraint torsion spring and the pitching constraint torsion spring, and at the moment, the gyroscope also responds to reset each dip angle to zero degrees.
Claims (2)
1. The handlebar transmission device convenient for measuring the angle comprises a rotating main shaft connected with a handlebar, wherein the tail end of the rotating main shaft is arranged on a middle frame disc, an upper frame disc is further arranged on the rotating main shaft, and a horizontal constraint torsion spring is arranged at the bottom of the upper frame disc; the method is characterized in that: the rotating main shaft rotates relative to the frame disc, the middle frame disc is provided with a gyroscope module, the gyroscope module comprises a pair of vertically matched gears, the horizontal gears are arranged on the rotating main shaft, the vertical gears are arranged at the end parts of the small rotating shafts, the gyroscope is arranged at the other ends of the small rotating shafts, and the small rotating shafts are arranged on the middle frame disc through bearing seats; the lower frame disc is hinged with the middle frame disc, the lower frame disc is fixedly connected with the vehicle body, the middle frame disc and the lower frame disc are hinged through an ear plate and a pin shaft, and a pitching constraint spring is further arranged on the pin shaft; the horizontal constraint torsion springs comprise two, a pair of fixed rods are arranged at the bottom of the upper frame disc, one ends of the two horizontal constraint torsion springs are respectively in contact with one fixed rod, driving rods matched with the fixed rods are arranged on the rotating main shaft, and the other ends of the two horizontal constraint torsion springs are respectively in contact with the corresponding driving rods.
2. The handlebar transmission device of claim 1, wherein: the rotating main shaft is assembled with the upper frame disc through a tapered roller bearing and a bearing retainer ring, and the middle frame disc is connected with the upper frame disc through three bolt rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810668392.7A CN108744500B (en) | 2018-06-26 | 2018-06-26 | Handlebar transmission device convenient for measuring angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810668392.7A CN108744500B (en) | 2018-06-26 | 2018-06-26 | Handlebar transmission device convenient for measuring angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108744500A CN108744500A (en) | 2018-11-06 |
| CN108744500B true CN108744500B (en) | 2024-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810668392.7A Active CN108744500B (en) | 2018-06-26 | 2018-06-26 | Handlebar transmission device convenient for measuring angle |
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| Country | Link |
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| CN (1) | CN108744500B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108275A (en) * | 2019-04-14 | 2019-08-09 | 青岛海科虚拟现实研究院 | A method of the three shaft angle degree of handlebar corner of measurement VR exercycle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001270483A (en) * | 2000-03-28 | 2001-10-02 | Tokin Corp | Direction indicator |
| KR20100012067A (en) * | 2008-07-28 | 2010-02-05 | 한국과학기술원 | Steering unit and two-wheel self-balanced mobile platform having the same |
| CN207455100U (en) * | 2017-11-02 | 2018-06-05 | 青岛宇科软件有限公司 | A kind of VR sets spare parts |
| CN208525797U (en) * | 2018-06-26 | 2019-02-22 | 青岛宇科软件有限公司 | A kind of handlebar transmission device being convenient for measuring angle |
-
2018
- 2018-06-26 CN CN201810668392.7A patent/CN108744500B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001270483A (en) * | 2000-03-28 | 2001-10-02 | Tokin Corp | Direction indicator |
| KR20100012067A (en) * | 2008-07-28 | 2010-02-05 | 한국과학기술원 | Steering unit and two-wheel self-balanced mobile platform having the same |
| CN207455100U (en) * | 2017-11-02 | 2018-06-05 | 青岛宇科软件有限公司 | A kind of VR sets spare parts |
| CN208525797U (en) * | 2018-06-26 | 2019-02-22 | 青岛宇科软件有限公司 | A kind of handlebar transmission device being convenient for measuring angle |
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| Publication number | Publication date |
|---|---|
| CN108744500A (en) | 2018-11-06 |
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