CN208525797U - A kind of handlebar transmission device being convenient for measuring angle - Google Patents
A kind of handlebar transmission device being convenient for measuring angle Download PDFInfo
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- CN208525797U CN208525797U CN201820990251.2U CN201820990251U CN208525797U CN 208525797 U CN208525797 U CN 208525797U CN 201820990251 U CN201820990251 U CN 201820990251U CN 208525797 U CN208525797 U CN 208525797U
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Abstract
The utility model relates to a kind of handlebar transmission devices for being convenient for measuring angle, including the rotation main shaft being connect with handlebar, the main the tip of the axis of rotation is mounted on middle rack disk, and upper spider disk is additionally provided on the rotation main shaft, and the upper spider disk bottom is equipped with horizontal restraint torsional spring；The active rotating shaft is with respect to rack disk rotational, the middle rack disk is equipped with gyro module, the gyroscope template includes a pair of gear vertically cooperated, horizontal gear is mounted on rotation main shaft, vertical gear is mounted on small roller end, another installation gyroscope of small shaft, small shaft are mounted on middle rack disk by bearing block.The utility model has the beneficial effects that while guaranteeing that Spinning handlebar can move, and vertical rotary motion is converted by the horizontal revolving motion of handlebar, roll angle is measured with gyroscope to replace measurement yaw angle, to achieve the purpose that accurate handlebar level angle.
Description
Technical field
The utility model belongs to outer corner measurement technical field more particularly to a kind of handlebar transmission dress for being convenient for measuring angle
It sets.
Background technique
Six axle sensor modules are a kind of angular transducers for having merged three-axis gyroscope and three axis accelerometer, can be surveyed
The angular speed for measuring Rigid Body in Rotation With can synthesize Eulerian angles, including yaw angle Yaw by angular speed, and pitch angle Pitch is horizontal
Roll angle Roll.Due to the error of gyroscope device itself, so that there is the drift to the time in three axis of gyroscope, when gyroscope is quiet
When only motionless, measured angle can be changed over time.Or when Rigid Body in Rotation With, since angular speed is non-constant, in angular speed
In the case where 0, three-axis gyroscope is unable to measure out angular speed when Rigid Body in Rotation With due to the limitation of range, therefore passes through
Angular speed is also almost 0 to angle measured by time integral.The angle that both of which will lead to gyroscope measurement is inaccurate
Really.
Six axle sensor modules (gyroscope) include three axis accelerometer, when accelerometer is around using center as origin
When x-axis or the y-axis rotation of three-dimensional system of coordinate, x-axis or y-axis and gravity can generate certain angle, and accelerometer can pass through measurement
When rotation and the angle of gravity, to obtain the angle rotated around X-axis or y-axis, i.e. pitch angle Pitch and roll angle Roll.It utilizes
The pitch angle and roll angle that accelerometer measures compensate the x that gyroscope measures, corner on y-axis direction, it is smart comparison can be obtained
True pitch angle and roll angle.But when accelerometer rotates (horizontal rotation) around z-axis, the angle of z-axis and gravity is always
0, therefore the level angle of accelerometer is unable to get to compensate yaw angle Yaw measured by gyroscope.Therefore, six axle sensor
Measured yaw angle has error.Six traditional axis gyro modules are frequently added three axle magnetometer, pass through magnetometer measures
The error of yaw angle is compensated with the angle in earth's magnetic field.But magnetometer requires harshness for use environment, is easy by ring around
The influence in border magnetic field and keep measurement result inaccurate.
Common game station by taking game bicycle as an example, it is general cross gyroscope measure the movement angle of handlebar and to host computer
Accurate movement angle is transmitted to carry out stable and accurate game operation, traditional game station will directly have gyro module
Singlechip chip is directly measured the azimuth of handlebar by gyroscope, generally measures vehicle with the yaw angle of gyroscope on handlebar
Level angle, when handlebar rotation is slowly due to the above reasons, or angle change is smaller, gyroscope can not accurately measure vehicle
Level angle seriously affect game effect so that game operation is not smooth.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of handlebar transmission device for being convenient for measuring angle,
While purpose is that guarantee Spinning handlebar can move, and vertical rotation fortune is converted by the horizontal revolving motion of handlebar
It is dynamic, roll angle is measured with gyroscope to replace measurement yaw angle, to achieve the purpose that accurate handlebar level angle.
The technical solution of the utility model are as follows:
A kind of handlebar transmission device being convenient for measuring angle, including the rotation main shaft being connect with handlebar, the rotation main shaft
End be mounted on middle rack disk, be additionally provided with upper spider disk on the rotation main shaft, the upper spider disk bottom dress
There is horizontal restraint torsional spring；The active rotating shaft is equipped with gyro module, institute with respect to rack disk rotational, the middle rack disk
Stating gyroscope template includes a pair of gear vertically cooperated, horizontal gear is mounted on rotation main shaft, vertical gear be mounted on it is small
Roller end, another installation gyroscope of small shaft, small shaft are mounted on middle rack disk by bearing block.
Compared to the prior art, this programme is driven based on gear deflecting, and the design of yaw angle is replaced with gyroscope roll angle,
The handlebar transmission device for devising measurement angle, when handlebar stress horizontally rotates, relatively each rack disk of transmission main shaft
Rotation, and vertical gear rotation is driven by horizontal gear, so that gyroscope be driven to rotate, it can accurately measure its roll angle
Roll can accurately obtain the level angle of handlebar by converting, and horizontal restraint torsional spring is in compressive state at this time, and handlebar is not
When stress, rotation main shaft or so automatically resets.
Based on above scheme, the utility model is also made that following improvement:
It further, further include the lower bearing bracket disk hinged with middle rack disk, lower bearing bracket disk is fixedly connected with the vehicle body,
The middle rack disk and lower bearing bracket disk are hinged by otic placode, pin shaft, and pitching restricted spring is additionally provided on pin shaft.This technology changes
Into the pitching movement for realizing handlebar, when handlebar stress carries out pitch, handlebar to middle rack disk all relative frames into
Row pitch, pitching at this time, which constrains torsional spring, can be in compressive state, when handlebar does not stress, automatically reset before and after main shaft；This skill
In art scheme, handlebar can generally carry out rotation and pitching or so score pitching movement simultaneously, can accurately measure its roll angle Roll
With pitch angle Pitch, the level angle and pitch angles of handlebar can be accurately obtained by converting.
Further, the horizontal restraint torsional spring includes two, and the upper spider disk bottom is equipped with a pair of of fixed link, institute
The one end for stating two horizontal torsional springs is contacted with a fixed link respectively, and the rotation main shaft is equipped with the driving cooperated with fixed link
The other end of bar, described two horizontal torsional springs is contacted with corresponding drive rod respectively.
Further, the rotation main shaft is assembled by tapered roller bearing and end ring and upper spider disk, described
Lower bearing bracket disk is connected by three shanks of bolt with upper spider disk.
The utility model has the beneficial effects that transmission is accurate efficient, and movement is flexible and facilitates operation in handlebar motion process
Installation, stable mechanical structure accurately measure under the premise of meeting the power of transmitting handlebar proper motion, and in conjunction with gyroscope
The movement angle of handlebar effectively solves the problems, such as that the precision of gyroscope traditional approach yaw angular measurement handlebar corner is not high,
Measurement accuracy is high, and reaction is fast, can satisfy various types of games bicycle or has the angle measurement operation of the equipment of similar handlebar movement.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model horizontal restraint torsion spring structure diagram；
Fig. 3 is the utility model gyro module structural schematic diagram.
In figure, 1, rotation main shaft；11, end ring；12, drive rod；2, upper spider disk；21, fixed link；22, screw；
3, middle rack disk；31, shank of bolt；32, otic placode；4, lower bearing bracket disk；5, horizontal restraint torsional spring；6, gyro module；61, water
Flat bevel gear；62, vertical bevel gear；63, small shaft；64, gyroscope；65, bearing block；7, pitching constrains torsional spring.
Specific embodiment
As shown in Figure 1, a kind of handlebar transmission device for being convenient for measuring angle, including the rotation main shaft 1 being connect with handlebar, institute
The end for stating rotation main shaft 1 is mounted on middle rack disk 3, is additionally provided with upper spider disk 2 on the rotation main shaft 1, it is described on
2 bottom of rack disk is equipped with horizontal restraint torsional spring 5；Hinged lower bearing bracket disk 4, lower bearing bracket disk 4 and vehicle with middle rack disk 3
Body is fixedly connected, and the middle rack disk 3 and lower bearing bracket disk 4 are hinged by otic placode 32, pin shaft, and pitching is additionally provided on pin shaft about
Beam spring 7.
As shown in Fig. 2, 1 top of transmission main shaft is mounted directly handlebar and by fitted bearing retaining ring 11 and tapered roller bearing
It is assemblied on upper spider disk 2, end is mounted on middle rack disk, and handlebar horizontally rotates by passing 1 dynamic main shaft transmitting；Upper machine
Frame disk 2 is connected with middle rack disk 3 by three shanks of bolt 31 on middle rack disk；The lower bearing bracket disk and vehicle frame master
Body is solidly fixed by welding form.Horizontal restraint torsional spring 5 is two torsional springs for being mounted on upper spider disk lower part, by screw
22 fixed positions；2 bottom of upper spider disk is equipped with a pair of of fixed link 21, one end point of described two horizontal restraint torsional springs 5
It is not contacted with a fixed link 21, the rotation main shaft 1 is equipped with the drive rod 12 cooperated with fixed link 21, described two levels
The other end of constraint torsional spring is contacted with corresponding drive rod 12 respectively.When transmission main shaft rotation, fixed link 21 and drive rod 12
It relatively rotates, compresses torsional spring and provide and horizontally rotate restraining force, can control and automatically reset after facilitating handlebar to lose power.
As shown in figure 3, gyro module includes a pair of horizontal gear 61 vertically cooperated and vertical gear 62, horizontal gear
61 are mounted on main axis 1, and vertical gear 602 is installed in side in small shaft 63, and gyroscope 64 is installed in the other side, and uses bearing
Seat 65 is mounted on middle rack disk 3, and gyroscope can measure any rotation and the pitch angle of handlebar；Pitching constrains torsional spring 7
For in being mounted on by axle sleeve, four torsional springs on the pin shaft between lower bearing bracket disk, when handlebar relative frame pitch, turn round
Spring compression provides pitching restraining force, and the front-rear direction after facilitating handlebar to lose power automatically resets.
When handlebar stress horizontally rotates, the relatively each rack disk rotational of transmission main shaft 1, and pass through horizontal gear
601 drive vertical gear 62 to rotate, so that gyroscope 64 be driven to rotate, can accurately measure gyroscope roll angle Roll, lead at this time
The level angle of handlebar can accurately be obtained by crossing conversion；When handlebar stress carries out pitch, main shaft 1 to middle rack disk
3 all relative frames carry out pitch movement, can accurately measure the pitch angle Pitch of gyroscope, i.e. handlebar pitch angles.Vehicle
Can generally carry out rotation and pitching or so score pitching movement simultaneously, gyroscope can accurately measure its roll angle simultaneously at this time
Roll and pitch angle Pitch, it can accurately the level angle and pitch angles of handlebar are obtained, when handlebar does not stress, in water
Under the action of flat constraint torsional spring and pitching constraint torsional spring, handlebar can automatically reset to home position, and gyroscope also makes sound at this time
It answers, each inclination angle is resetted and sets 0.
Claims (4)
1. a kind of handlebar transmission device for being convenient for measuring angle, including the rotation main shaft being connect with handlebar, the rotation main shaft
End is mounted on middle rack disk, and upper spider disk is additionally provided on the rotation main shaft, and the upper spider disk bottom is equipped with
Horizontal restraint torsional spring；It is characterized by: the rotation main shaft, with respect to rack disk rotational, the middle rack disk is equipped with gyro
Instrument module, the gyroscope template include a pair of gear vertically cooperated, and horizontal gear is mounted on rotation main shaft, vertical gear
It is mounted on small roller end, another installation gyroscope of small shaft, small shaft is mounted on middle rack disk by bearing block.
2. handlebar transmission device according to claim 1, it is characterised in that: further include the lower machine hinged with middle rack disk
Frame disk, lower bearing bracket disk are fixedly connected with the vehicle body, and the middle rack disk and lower bearing bracket disk are hinged by otic placode, pin shaft,
Pitching restricted spring is additionally provided on pin shaft.
3. handlebar transmission device according to claim 1, it is characterised in that: the horizontal restraint torsional spring includes two, institute
It states upper spider disk bottom and is equipped with a pair of of fixed link, one end of described two horizontal torsional springs is contacted with a fixed link respectively, institute
It states rotation main shaft and is equipped with the drive rod cooperated with fixed link, the other end of described two horizontal torsional springs drives with corresponding respectively
Bar contact.
4. handlebar transmission device according to claim 2, it is characterised in that: the rotation main shaft passes through tapered roller bearing
It is assembled with end ring and upper spider disk, the lower bearing bracket disk is connected by three shanks of bolt with upper spider disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820990251.2U CN208525797U (en) | 2018-06-26 | 2018-06-26 | A kind of handlebar transmission device being convenient for measuring angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820990251.2U CN208525797U (en) | 2018-06-26 | 2018-06-26 | A kind of handlebar transmission device being convenient for measuring angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208525797U true CN208525797U (en) | 2019-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820990251.2U Active CN208525797U (en) | 2018-06-26 | 2018-06-26 | A kind of handlebar transmission device being convenient for measuring angle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108744500A (en) * | 2018-06-26 | 2018-11-06 | 青岛宇科软件有限公司 | A kind of handlebar transmission device being convenient for measuring angle |
| 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 |
-
2018
- 2018-06-26 CN CN201820990251.2U patent/CN208525797U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108744500A (en) * | 2018-06-26 | 2018-11-06 | 青岛宇科软件有限公司 | A kind of handlebar transmission device being convenient for measuring angle |
| CN108744500B (en) * | 2018-06-26 | 2024-02-09 | 青岛宇科软件有限公司 | Handlebar transmission device convenient for measuring angle |
| 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 |
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