CN112683157A - Rotation angle measuring device and multi-angle traveling vehicle - Google Patents

Abstract

The invention provides a rotation angle measuring device and a multi-angle traveling vehicle, wherein the rotation angle measuring device comprises: the rack comprises a central shaft which can be arranged in a rotating way; gear assembly devices includes: the two second gears are positioned in the same plane and are respectively meshed with two different points of the first gear, each second gear is in transmission connection with one third gear, the two third gears are sleeved on the central shaft and synchronously rotate with the central shaft, a tensioning piece is arranged between the two third gears, and the tension of the tensioning piece on each third gear has component force in the rotation direction of the third gear; and the angle measuring instrument is arranged on the rack and used for measuring the rotation angle of the central shaft. According to the invention, the tension piece is arranged between the two third gears, so that the backlash between the first gear and the second gear and between the second gear and the third gear can be eliminated, and the measured rotation angle precision of the gears is higher.

Description

Rotation angle measuring device and multi-angle traveling vehicle

Technical Field

The invention relates to the technical field of transmission and measurement, in particular to a rotation angle measuring device and a multi-angle traveling vehicle.

Background

Gear transmission is widely applied to the field of machinery as a common transmission structure. For example, in a multi-angle traveling vehicle, a wheel assembly is rotatably connected to a frame and connected to the frame through a meshed gear, and a motor drives the gear to rotate to drive the wheel assembly to rotate, so as to adjust the traveling direction of the vehicle. In order to precisely control the driving direction, it is necessary to precisely measure the rotation angle of the gear to determine whether the wheel assembly is rotated in place.

When the rotation angle of the gear is measured in the prior art, as shown in fig. 1, because there may be backlash between the gears engaged during gear transmission, the rotation angle of other gears calculated according to the directly measured rotation angle of the gear may deviate from the actual rotation angle, and the measurement accuracy is poor.

Disclosure of Invention

The invention aims to provide a rotation angle measuring device and a multi-angle traveling vehicle, which can solve at least one technical problem mentioned above. The specific scheme is as follows:

according to a specific embodiment of the present invention, in a first aspect, the present invention provides a rotation angle measuring apparatus, comprising:

the rack comprises a central shaft which can be arranged in a rotating way;

gear assembly devices includes: the two second gears are positioned in the same plane and meshed with two different points of the first gear respectively, each second gear is in transmission connection with one third gear respectively, the two third gears are sleeved on a central shaft and synchronously rotate with the central shaft, a tensioning piece is arranged between the two third gears, and the tension of the tensioning piece on each third gear has component force in the rotating direction of the third gear, so that one second gear is in seamless meshing with the first gear along a first direction, and the other second gear is in seamless meshing with the first gear along a second direction;

and the angle measuring instrument is arranged on the rack and used for measuring the rotating angle of the central shaft.

Optionally, the angle gauge comprises: the magnetic element is arranged on the central shaft, and the induction element is arranged on the rack and opposite to the central shaft.

Optionally, the rack further comprises: two substrates and a first connecting member;

the two substrates are oppositely arranged at intervals and connected through the first connecting piece, through holes are respectively formed in the two substrates, and two ends of the central shaft are inserted into the through holes and can rotate in the through holes.

Optionally, the rack further comprises: the measuring plate and the substrate are oppositely arranged at intervals and connected through the second connecting piece; the induction element is arranged on the upper surface of the measuring plate, and the magnetic element and the induction element are oppositely arranged at a preset distance.

Optionally, the gear assembly mechanism further comprises: the transmission rod can rotatably penetrate through the substrate, the second gear and the transmission gear are fixedly connected with the transmission rod, and the transmission gear is meshed with the third gear; and/or the presence of a gas in the gas,

the transmission gear is positioned between the two substrates, and the second gear is positioned outside the two substrates.

Optionally, a gear ratio between the second gear and the first gear is equal to a gear ratio between the transmission gear and the third gear.

Optionally, both ends of the tension member are spaced from the center of the third gear by the same distance.

Optionally, one of the third gears is fixed on the central shaft, and the other third gear is rotatably sleeved on the central shaft, so that the pulling force of the tension member is transmitted to the tooth surface contacted by the first gear and the second gear through the third gear.

Optionally, the tension member is an elastic member.

According to a second aspect of the present invention, there is provided a multi-angle traveling vehicle including the rotation angle measuring apparatus of any one of the above.

Compared with the prior art, the embodiment of the invention has the following technical effects:

according to the invention, the rotation angles of the first gear, the second gear and the third gear can be further determined through the measured rotation angle of the central shaft. And because the pulling force that the tensioning piece produced between two third gears can eliminate the backlash between first gear and the second gear, and between second gear and the third gear, avoid the measuring error that leads to because of the transmission precision problem for the rotation angle precision of first gear, second gear and third gear that determines according to the rotation angle of center pin is higher.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic diagram of a prior art two meshing gears;

fig. 2 is a schematic structural diagram of a rotation angle measuring device according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating a usage status of the rotation angle measuring apparatus according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of the rotation angle measuring device provided by the embodiment of the invention, wherein the second gear is meshed with the first gear when in use;

fig. 5 is a partially enlarged view of a third gear in the rotational angle measuring apparatus according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present invention, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and similarly the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present invention.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.

Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Example 1

According to an embodiment of the present invention, there is provided a rotation angle measuring apparatus, as shown in fig. 2 and 3, including:

the frame 1 comprises a central shaft 11 which can be rotatably arranged.

The gear fitting mechanism 2 includes: the two second gears 22 and the two third gears 23, the two second gears 22 are meshed with two different points of the first gear 21 respectively, each second gear 22 is in transmission connection with one third gear 23 respectively, the two third gears 23 are sleeved on the central shaft 11 and rotate synchronously with the central shaft 11, a tension member 3 is arranged between the two third gears 23, and the tension force of the tension member 3 on each third gear 23 has a component force in the rotating direction of the third gear 23, so that one second gear 22 is meshed with the first gear 21 seamlessly along the first direction, and the other second gear 22 is meshed with the first gear 21 seamlessly along the second direction.

The angle measuring instrument 4 is used for measuring the rotation angle of the central shaft 11.

When the synchronous transmission device is used, the first gear 21 is respectively connected with the two second gears 22, the two second gears 22 are respectively in transmission connection with the two third gears 23, and the two third gears 23 are sleeved on the central shaft 11 and rotate synchronously with the central shaft 11. Therefore, the first gear 21, the second gear 22, the third gear 23 and the central shaft 11 are in synchronous rotation, and the rotation direction and the angle are determined by the assembly relationship to have a certain corresponding relationship. The rotation angles of the first gear 21, the second gear 22 and the third gear 23 can be further determined by measuring the rotation angle of the central shaft 11 by the angle measuring instrument 4. For example, the rotational speed of the third gear 23 may be made equal to the rotational speed of the first gear 21 by setting the transmission relationship.

Due to the arrangement of the tension member 3 between the two third gear wheels 23, the tension force generated by the tension member 3 has a component in the rotation direction of the third gear wheels 23, which component can make the gear teeth of the third gear wheels 23 and the second gear wheels 22 in transmission connection to abut against each other. And due to the force transmission relationship, the force in the rotating direction of the third gear 23 can be transmitted to the rotating direction of the second gear 22, so that the second gear 22 is tightly attached to the teeth of the first gear 21. That is, by the tension action of the tension member 3, backlash between the third gear 23 and the second gear 22 and backlash between the first gear 21 and the second gear 22 can be eliminated, thereby avoiding measurement errors caused by transmission accuracy problems, and enabling the measured rotation angle of the central shaft 11 to accurately reflect the rotation angles of the first gear 21, the second gear 22 and the third gear 23. In the rotation angle measuring device provided in this embodiment, when in use, the schematic diagram of the meshing position of the second gear 22 and the first gear 21 can be seen in fig. 3 and 4, and the oval in fig. 4 shows the state where the gear teeth are tightly attached.

In summary, the rotation angle measuring apparatus provided in the present embodiment can further determine the rotation angles of the first gear 21, the second gear 22 and the third gear 23 by the measured rotation angle of the central shaft 11. And because the tension force that the tension member 3 produced between two third gears 23, can eliminate the backlash between first gear 21 and second gear 22, and between second gear 22 and third gear 23, avoid the measuring error that leads to because of the transmission precision problem for the rotation angle precision of first gear 21, second gear 22 and third gear 23 that determines according to the rotation angle of center pin 11 is higher.

In the gear mounting mechanism 2, the two second gears 22 may mesh with the first gear 21 at two different points, respectively, and the meshing point between the second gear 22 and the first gear 21 may be two different points along the circumferential direction of the first gear 21. See in particular fig. 3 and 4.

Because each gear rotates synchronously, the first gear 21, any second gear 22, or any third gear 23 can be used as a driving wheel, and the rest gears are driven wheels correspondingly, so that a suitable driving wheel can be determined according to the application scene of the gear assembly mechanism 2 during use, which is not limited in this embodiment. The gear to be tested may also be the first gear 21, any second gear 22, any third gear 23, and the like, which are not described herein again.

In practical use, the frame 1 may be fixed, and the first gear 21 may be rotatably disposed. Or, the first gear 21 may be fixed, and the second gear 22 performs circular motion around the axis of the first gear 21 during the rotation process, so as to drive the whole frame 1 to perform circular motion around the axis of the first gear 21, which may be set by a person skilled in the art according to the use requirement.

In this embodiment, the frame 1 serves as a mounting base for other components, and includes a rotatable central shaft 11, and in some alternative implementations of this embodiment, as shown in fig. 2, the frame 1 further includes: two base plates 12 and a first connecting member 13; the two substrates 12 are oppositely arranged at intervals and connected through a first connecting piece 13, through holes are respectively arranged on the two substrates 12, and two ends of the central shaft 11 are inserted into the through holes and can rotate in the through holes.

Thus, the central shaft 11 is located between the two substrates 12 oppositely arranged at intervals, and the substrates 12 play a role in limiting and protecting the central shaft 11. In this case, the third gear 23 fitted around the center shaft 11 is also positioned between the two base plates 12.

Optionally, bearings may be sleeved at two ends of the central shaft 11, so that the substrate 12 has a good limiting effect on the end of the central shaft 11, and the central shaft 11 is convenient to rotate.

In this embodiment, the first connecting element 13 is disposed between the two substrates 12 for connecting, so that the two substrates 12 are kept relatively fixed at an interval, as an example, the first connecting element 13 may be a closed housing, and cooperates with the two substrates 12 to form a closed space, so as to fix the two substrates 12.

As another example, the first connecting member 13 may be a connecting rod connected between the two base plates 12, and the number of the connecting rods may be plural and evenly distributed at intervals in the circumferential direction. In this example, both ends of the connecting rod may be soldered to the base plate 12. Or, referring to fig. 2, the middle of the connecting rod may be a prism structure, the two ends of the connecting rod are respectively provided with a bolt, the substrate 12 is correspondingly provided with a through hole, the bolts at the two ends of the connecting rod pass through the through holes on the substrate 12 and are fastened through nuts, and the prism end surface of the middle part abuts against the surface of the substrate 12, so as to detachably connect the two substrates 12 together.

In the present embodiment, the angle measuring instrument 4 is used for measuring the rotation angle of the central shaft 11, for example, the angle measuring instrument 4 may be a measuring instrument based on an encoder setting.

Alternatively, the angle measuring device 4 can be an amperometric sensor. For example, the angle measuring device 4 may include a brush head disposed on the central shaft 11, and a ring-shaped capacitor/resistor surrounding the central shaft 11, the brush head is in contact with the capacitor/resistor, when the position of the brush head rotating about the central shaft 11 and in contact with the capacitor/resistor changes, the current in the circuit changes, and the rotation angle of the central shaft 11 can be determined according to the current change.

In some optional implementations of the present embodiment, as shown in fig. 2, the rack 1 further includes: a measuring plate 14 and a second connecting member 15, wherein the measuring plate 14 is arranged opposite to one base plate 12 at a distance and is connected with the second connecting member 15. The angle measuring instrument 4 includes: a magnetic element 41 and an inductive element 42, the magnetic element 41 being arranged on the central axis 11, the inductive element 42 being arranged on the measuring plate 14 opposite to the central axis 11.

So configured, the measurement board 14 serves to provide a mounting base for the sensing element 42. The magnetic element 41 is disposed on the central axis 11, and the inductive element 42 is located opposite to the central axis 11 in the magnetic field of the magnetic element 41. When the central shaft 11 rotates, the inductive element 42 generates an inductive current according to the rotation of the magnetic field, and determines the rotation angle of the central shaft 11 according to the inductive current.

The magnetic element 41 may be a magnet, magnetic steel, or the like, and the magnetic element 41 may be fitted around the central shaft 11, or may be provided at an end portion of the central shaft 11 (for example, a lower surface of the central shaft 11 shown in fig. 2), as long as the induction element 42 is placed in the magnetic field of the magnetic element 41.

The sensing element 42 may be a hall sensor. It will be appreciated that the angle gauge 4 may also comprise a processor for receiving the induced current of the inductive element 42 and determining the angle of rotation from the electrical signal. The processor may be provided separately or may be integrated into the sensing element 42.

The second connecting member 15 may be a closed housing or a connecting rod, and the specific arrangement manner may be referred to as the first connecting member 13, which is not described herein again.

In addition, since the measuring board 14 is only used for arranging the sensing element 42, the area thereof can be relatively small, and those skilled in the art can arrange the sensing element according to actual conditions on the premise of meeting the measuring requirements, so as to reduce the occupied space.

In the present embodiment, each second gear 22 is in transmission connection with the first third gear 23, and as to how the transmission mechanism is arranged, an alternative implementation is given as follows:

in some alternative implementations of the present embodiment, as shown in fig. 2, the gear assembly mechanism 2 further includes: a transmission rod 24 and a transmission gear 25, wherein the transmission rod 24 can rotatably penetrate through the base plate 12, the second gear 22 and the transmission gear 25 are both connected with the transmission rod 24, and the transmission gear 25 is meshed with the third gear 23.

So set up, second gear 22 and drive gear 25 rotate synchronously, and drive gear 25 meshes with third gear 23, makes third gear 23 and second gear 22 transmission connection. When the transmission connection mode is adopted, the tension force of the tension member 3 acting on the third gear 23 causes the tooth surfaces of the third gear 23 and the transmission gear 25 to generate mutually abutted acting force. The second gear 22 and the transmission gear 25 are both connected with the transmission rod 24, the three can be regarded as a whole, and the abutting force applied to the transmission gear 25 is acted on the first gear 21 by the second gear 22, so that the tooth surfaces contacted with the first gear 21 and the second gear 22 abut.

In the embodiment, since the third gear 23 is sleeved on the central shaft 11 and located between the two base plates 12, correspondingly, the transmission gear 25 may be located between the two base plates 12 to mesh with the third gear 23. The second gear 22 may be located outside the base plate 12 (i.e., not in the space between the two base plates 12), and there may be a larger space for the first gear 21 to mesh with.

In some alternative implementations of the present embodiment, a bearing is disposed between the drive rod 24 and the base plate 12 when the drive rod 24 is rotatably passed through the base plate 12. Therefore, the base plate 12 can limit the transmission rod 24 and facilitate the sliding of the transmission rod 24.

Through holes matched with the transmission rods 24 can be respectively formed in the two substrates 12, one end of each transmission rod 24 is inserted into the through hole in one substrate 12, the other end of each transmission rod 24 penetrates through the through hole in the other substrate 12 and is located outside the other substrate 12, and therefore a straight line is determined by the two points, so that the limiting effect of the substrates 12 on the transmission rods 24 is good.

Optionally, the diameter of the transmission rod 24 corresponding to the transmission gear 25 is larger than that of other parts, so as to reinforce the stressed area and improve the stability.

In some optional implementations of the present embodiment, the transmission ratio between the second gear 22 and the first gear 21 is equal to the transmission ratio between the transmission gear 25 and the third gear 23, so that the angle measured by the angle measuring instrument 4 is equal to the rotation angle of the first gear 21, and no additional calculation is needed, thereby simplifying the calculation process.

In some alternative implementations of this embodiment, one third gear 23 is fixed to the central shaft 11, and the other third gear 23 is rotatably fitted around the central shaft 11.

First, it should be understood that there may be no direct constraint between the two third gears 23, and the synchronous rotation of the two third gears 23 can be maintained by their driving connection with the synchronously rotating second gears 22, respectively. Since the two third gears 23 rotate synchronously with the central shaft 11 in the present embodiment, at least one of the two third gears 23 should be fixed on the central shaft 11. If the two third gears 23 are fixed on the central shaft 11, the two third gears 23 and the central shaft 11 can be regarded as a whole, and the influence of the tension force inside the whole on the outside is small, therefore, in the embodiment, one third gear 23 is fixed on the central shaft 11, and the other third gear 23 is rotatably sleeved on the central shaft 11, so that the tension force of the tension member 3 can fully play a role in the whole gear assembly mechanism 2, and the backlash between the gears is reduced or eliminated.

In this embodiment, the tension member 3 is used to generate a tension force between the two third gears 23, and the tension force has a component force in the rotation direction of the third gears 23, that is, the connection points of the two ends of the tension member 3 and the third gears 23 cannot be located at the same position in the circumferential direction. For example, fig. 2 shows the tension member 3 in a non-operating state, in which the tension member 3 is kept in a vertical state, and the tension force of the tension member 3 has no component in the rotation direction of the third gear 23. In practical use, the two third gears 23 should be kept at a preset included angle, and the second gear 22 and the first gear 21 are engaged and assembled after the tensioning member 3 is inclined. The schematic diagram of the using state is shown in figure 3.

In some alternative implementations of this embodiment, both ends of the tension member 3 are at the same distance from the center of the third gear 23. With this arrangement, the tension of the tension member 3 does not have a component force in the radial direction of the third gear 23, and the reactive moment inside the apparatus is eliminated.

In this embodiment, the tensioning member 3 may be a wire rope or the like as long as it can perform a tensioning function. The number of the tensioning pieces 3 can be multiple, and the plurality of tensioning pieces 3 can be uniformly distributed along the circumferential direction of the third gear 23, so that the stress of the third gear 23 is uniform, and the tensioning effect is improved.

In this embodiment, as shown in fig. 5, in order to facilitate the connection of the tension member 3 to the third gear 23, a hollow through hole is provided at a position of the third gear 23 connected to the tension member 3, and a connector 231 is provided in the through hole. Connector 231 is including the anticreep portion of putting through the rope and being located the portion of putting through the rope portion tip, and anticreep portion is the great arc structure of just orientation portion of putting through the rope of area, plays to the tip of fastener 3 and stops the effect and avoid droing. For example, when the tension member 3 is a steel wire rope, the head of the steel wire rope can be tied on the rope threading part.

Example 2

The same structure in this embodiment as that in embodiment 1 is not described in detail, and the same structural parts have the same technical effects and are not described in detail. According to the specific embodiment of the present invention, in the rotation angle measuring device provided in this embodiment, the tensioning member 3 is an elastic member, and thus, by the elongation degree of the tensioning member 3, the tension of the tensioning member 3 can be controlled more conveniently. Thus, before use, the position of the rotatable third gear 23 can be adjusted in advance and then the meshing assembly can be completed, so that different tension forces can be obtained. When the tensioning force is adjusted, the engagement between the first gear 21 and the second gear 22 is released, the second gear 22 and/or the third gear 23 are rotated until the elastic part is elongated to a preset length, and then the two second gears 22 are engaged with the first gear 21, so that the adjustment process can be conveniently completed.

The elastic member may be a spring or an elastic band, which is not limited in this embodiment. For example, when the elastic member is a spring, the hook at the end of the spring can be hung on the threading portion of the connector 231.

It can be seen that the rotation angle measuring device provided in this embodiment eliminates backlash during gear transmission, and can more accurately determine the rotation angles of the first gear 21, the second gear 22, and the third gear 23 through the measured rotation angle of the central shaft 11. And set up tensioning member 3 for the relative rotation between two third gears 23 of elastic component cooperation, can control the pulling force size comparatively conveniently.

Example 3

The same structure as that in embodiment 1 or 2 is not described in detail, and the same structural parts have the same technical effects and are not described in detail. According to an embodiment of the invention, the invention provides a multi-angle traveling vehicle, which comprises the rotation angle measuring device.

In some optional implementations of this embodiment, the multi-angle traveling vehicle may further include: the frame, set up a plurality of wheel subassemblies all around the frame respectively, wheel subassembly rotationally connects on the frame, and through the gear connection of meshing between the two, and motor drive gear rotates and then drives wheel subassembly and rotates, reaches the purpose of adjustment vehicle direction of travel. The gear driven by the motor to rotate and further drive the wheel assembly to rotate can be used as a first gear 21 in the rotation angle measuring device, after the rotation angle of the rotating shaft is measured by the angle measuring instrument 4, the rotation angle of the first gear 21 can be determined according to the transmission relation between the first gear 21 and the central shaft 11, further the rotation angle of the wheel assembly is determined, and the driving direction of the vehicle is accurately controlled.

In conclusion, the multi-angle driving vehicle provided by the embodiment can accurately measure the rotation angle of the wheel assembly by arranging the rotation angle measuring device, and further accurately control the driving direction of the vehicle.

Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The system or the device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (10)

1. A rotation angle measuring apparatus, characterized by comprising:

the rack comprises a central shaft which can be arranged in a rotating way;

gear assembly devices includes: the two second gears are positioned in the same plane and meshed with two different points of the first gear respectively, each second gear is in transmission connection with one third gear respectively, the two third gears are sleeved on a central shaft and synchronously rotate with the central shaft, a tensioning piece is arranged between the two third gears, and the tension of the tensioning piece on each third gear has component force in the rotating direction of the third gear, so that one second gear is in seamless meshing with the first gear along a first direction, and the other second gear is in seamless meshing with the first gear along a second direction;

and the angle measuring instrument is arranged on the rack and used for measuring the rotating angle of the central shaft.

2. The apparatus of claim 1, wherein the angle gauge comprises: the magnetic element is arranged on the central shaft, and the induction element is arranged on the rack and opposite to the central shaft.

3. The apparatus of claim 2, wherein the frame further comprises: two substrates and a first connecting member;

the two substrates are oppositely arranged at intervals and connected through the first connecting piece, through holes are respectively formed in the two substrates, and two ends of the central shaft are inserted into the through holes and can rotate in the through holes.

4. The apparatus of claim 3, wherein the frame further comprises: the measuring plate and the substrate are oppositely arranged at intervals and connected through the second connecting piece; the induction element is arranged on the upper surface of the measuring plate, and the magnetic element and the induction element are oppositely arranged at a preset distance.

5. The apparatus of claim 3, wherein the gear assembly mechanism further comprises: the transmission rod can rotatably penetrate through the substrate, the second gear and the transmission gear are fixedly connected with the transmission rod, and the transmission gear is meshed with the third gear; and/or the presence of a gas in the gas,

the transmission gear is positioned between the two substrates, and the second gear is positioned outside the two substrates.

6. The device of claim 5, wherein a gear ratio between the second gear and the first gear is equal to a gear ratio between the drive gear and the third gear.

7. The device of claim 1 wherein the ends of the tension member are equidistant from the center of the third gear.

8. The apparatus according to claim 1 wherein one of said third gears is fixed to said central shaft and the other of said third gears is rotatably mounted on said central shaft such that tension in said tension member is transmitted through said third gear to the contacting flanks of said first and second gears.

9. The device of any one of claims 1 to 8, wherein the tension member is a resilient member.

10. A multi-angle traveling vehicle characterized by comprising the rotation angle measuring device according to any one of claims 1 to 9.

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