Rotational angle measuring device and multi-angle running vehicle

Abstract

The present invention provides a rotation angle measuring device and a multi-angle traveling vehicle, wherein the rotation angle measuring device includes: a frame including a rotatable central shaft; a gear assembly mechanism including: two second gears and two third gears, the two second gears being located in the same plane and meshing with the first gear at two different points, each second gear being in transmission connection with a third gear, the two third gears being mounted on the central shaft and rotating synchronously with the central shaft, and a tensioning member being provided between the two third gears, the tensioning member exerting on each third gear having a component in the direction of rotation of the third gear; and an angle measuring instrument, provided on the frame, for measuring the rotation angle of the central shaft. By providing a tensioning member between the two third gears, the present invention can eliminate backlash between the first gear and the second gear, and between the second gear and the third gear, thereby achieving a high degree of accuracy in measuring the rotation angle of the gears.

Description

Technical Field

[0001] This invention relates to the field of transmission and measurement technology, and more specifically, to a rotation angle measuring device and a multi-angle driving vehicle. Background Technology

[0002] Gear transmission, as a common transmission structure, is widely used in the mechanical field. For example, in a multi-angle driving vehicle, the wheel assembly is rotatably connected to the frame, and the two are connected by meshing gears. The motor drives the gears to rotate, thereby rotating the wheel assembly and adjusting the vehicle's direction. To accurately control the driving direction, it is necessary to accurately measure the rotation angle of the gears to determine whether the wheel assembly has rotated to the correct position.

[0003] In existing technologies, when measuring the rotation angle of gears, as shown in the attached... Figure 1 As shown, since there may be backlash between meshing gears during gear transmission, the rotation angles of other gears calculated from the directly measured rotation angles of the gears may deviate from the actual values, resulting in poor measurement accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a rotation angle measuring device and a multi-angle driving vehicle, which can solve at least one of the aforementioned technical problems. The specific solution is as follows:

[0005] According to a specific embodiment of the present invention, in a first aspect, the present invention provides a rotation angle measuring device, comprising:

[0006] The frame includes a rotatably mounted central axis;

[0007] A gear assembly mechanism includes two second gears and two third gears. The two second gears are located in the same plane and mesh with a first gear at two different points. Each second gear is connected to one of the third gears. The two third gears are mounted on a central shaft and rotate synchronously with the central shaft. A tensioning member is provided between the two third gears. The tensioning member exerts a force on each third gear with a component in the rotation direction of the third gear, so that one second gear meshes seamlessly with the first gear in a first direction and the other second gear meshes seamlessly with the first gear in a second direction.

[0008] An angle measuring instrument, mounted on the frame, is used to measure the rotation angle of the central axis.

[0009] Optionally, the angle measuring instrument includes a magnetic element and a sensing element, wherein the magnetic element is disposed on the central axis, and the sensing element is disposed on the frame at a position opposite to the central axis.

[0010] Optionally, the frame further includes: two base plates and a first connector;

[0011] The two substrates are arranged opposite each other at a distance and connected by the first connector. Each of the two substrates is provided with a through hole, and the two ends of the central shaft are inserted into the through holes and can rotate within the through holes.

[0012] Optionally, the frame further includes: a measuring plate and a second connector, the measuring plate being disposed opposite to one of the substrates at a distance and connected to it via the second connector; the sensing element being disposed on the upper surface of the measuring plate, and the magnetic element and the sensing element being disposed opposite to each other at a preset distance.

[0013] Optionally, the gear assembly mechanism further includes: a transmission rod and a transmission gear, the transmission rod rotatably passing through the base plate, the second gear and the transmission gear being fixedly connected to the transmission rod, and the transmission gear meshing with the third gear; and / or,

[0014] The transmission gear is located between the two substrates, and the second gear is located outside the two substrates.

[0015] Optionally, the transmission ratio between the second gear and the first gear is equal to the transmission ratio between the transmission gear and the third gear.

[0016] Optionally, the two ends of the tensioning member are at the same center distance from the center of the third gear.

[0017] Optionally, one of the third gears is fixed on the central shaft, and the other third gear is rotatably mounted on the central shaft, so that the tension of the tensioning member is transmitted through the third gear to the tooth surface of the first gear and the second gear in contact.

[0018] Optionally, the tensioning element is an elastic element.

[0019] According to a specific embodiment of the present invention, in a second aspect, the present invention provides a multi-angle driving vehicle, including the rotation angle measuring device described in any of the preceding claims.

[0020] Compared with the prior art, the embodiments of the present invention have the following technical effects:

[0021] This invention allows for the determination of the rotation angles of the first, second, and third gears by measuring the rotation angle of the central shaft. Furthermore, the tension generated by the tensioning element between the two third gears eliminates backlash between the first and second gears, as well as between the second and third gears, avoiding measurement errors caused by transmission accuracy issues. This results in high accuracy of the rotation angles of the first, second, and third gears determined based on the rotation angle of the central shaft. Attached Figure Description

[0022] 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 described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0023] Figure 1 This is a schematic diagram of a two-meshing gear structure in the prior art;

[0024] Figure 2 This is a schematic diagram of the structure of the rotation angle measuring device provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the usage state of the rotation angle measuring device provided in an embodiment of the present invention;

[0026] Figure 4 A schematic diagram of the structure of the rotation angle measuring device provided in the embodiment of the present invention, showing the meshing of the second gear and the first gear during use;

[0027] Figure 5 This is a partial enlarged view of the third gear in the rotation angle measuring device provided in an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0029] The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a," "an," "the," and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0030] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0031] It should be understood that although the terms first, second, third, etc., may be used to describe... in the embodiments of the present invention, these... should not be limited to these terms. These terms are only used to distinguish... For example, first... may also be referred to as second... without departing from the scope of the embodiments of the present invention, and similarly, second... may also be referred to as first...

[0032] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0033] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0034] The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0035] Example 1

[0036] According to a specific embodiment of the present invention, the present invention provides a rotation angle measuring device, as shown in the attached figure. Figure 2 and attached Figure 3 Shown, including:

[0037] The frame 1 includes a rotatably mounted central shaft 11.

[0038] The gear assembly mechanism 2 includes two second gears 22 and two third gears 23. The two second gears 22 mesh with the first gear 21 at two different points. Each second gear 22 is connected to one third gear 23 in a transmission manner. The two third gears 23 are mounted on the central shaft 11 and rotate synchronously with the central shaft 11. A tensioning member 3 is provided between the two third gears 23. The tensioning member 3 exerts a component force on each third gear 23 in the direction of rotation of the third gear 23, so that one second gear 22 meshes seamlessly with the first gear 21 in a first direction and the other second gear 22 meshes seamlessly with the first gear 21 in a second direction.

[0039] Angle measuring instrument 4 is used to measure the rotation angle of the central axis 11.

[0040] In use, the first gear 21 is connected to two second gears 22, and the two second gears 22 are connected to two third gears 23. The two third gears 23 are mounted on the central shaft 11 and rotate synchronously with it. Therefore, the first gear 21, the second gears 22, the third gears 23, and the central shaft 11 rotate synchronously, and their rotation directions and angles are determined by their assembly relationship. By measuring the rotation angle of the central shaft 11 using the angle measuring instrument 4, the rotation angles of the first gear 21, the second gears 22, and the third gears 23 can be further determined. For example, the rotational speed of the third gear 23 can be set to be equal to the rotational speed of the first gear 21 by adjusting the transmission relationship.

[0041] Because a tensioning member 3 is provided between the two third gears 23, the tension force generated by the tensioning member 3 has a component force in the rotation direction of the third gear 23. This component force can make the teeth of the third gear 23 and the second gear 22 fit together during transmission. Furthermore, due to the force transmission relationship, the force in the rotation direction of the third gear 23 can be transmitted to the rotation direction of the second gear 22, making the teeth of the second gear 22 fit together with the teeth of the first gear 21. That is, through the tensioning force of the tensioning member 3, the backlash between the third gear 23 and the second gear 22, and between the first gear 21 and the second gear 22, can be eliminated, avoiding measurement errors caused by transmission accuracy issues, and ensuring that the measured rotation angle of the central shaft 11 can accurately reflect the rotation angles of the first gear 21, the second gear 22, and the third gear 23. When using the rotation angle measuring device provided in this embodiment, a schematic diagram of the meshing point of the second gear 22 and the first gear 21 can be found in the attached diagram. Figure 3 and attached Figure 4 , Figure 4 The ellipse in the middle shows the state where the gear teeth are in close contact.

[0042] In summary, the rotation angle measuring device provided in this embodiment can further determine the rotation angles of the first gear 21, the second gear 22, and the third gear 23 by measuring the rotation angle of the central shaft 11. Furthermore, the tension generated by the tensioning member 3 between the two third gears 23 can eliminate backlash between the first gear 21 and the second gear 22, and between the second gear 22 and the third gear 23, avoiding measurement errors caused by transmission accuracy issues. This results in high accuracy of the rotation angles of the first gear 21, the second gear 22, and the third gear 23 determined based on the rotation angle of the central shaft 11.

[0043] In the aforementioned gear assembly mechanism 2, the two second gears 22 mesh with the first gear 21 at two different points. Specifically, the meshing points of the second gears 22 and the first gear 21 are two different points along the circumference of the first gear 21. See the appendix for details. Figure 3 and attached Figure 4 .

[0044] Since all gears rotate synchronously, the first gear 21, any second gear 22, or any third gear 23 can all serve as driving gears, and the remaining gears are corresponding driven gears. In use, the appropriate driving gear can be determined according to the application scenario of the gear assembly mechanism 2; this embodiment does not impose any limitations on this. The gear to be tested can also be the first gear 21, any second gear 22, or any third gear 23, etc., which will not be elaborated further here.

[0045] In actual use, the frame 1 can be set to be fixed and the first gear 21 can be rotated. Alternatively, the first gear 21 can be set to be fixed and the second gear 22 can rotate to make a circular motion around the axis of the first gear 21, thereby driving the entire frame 1 to make a circular motion around the axis of the first gear 21. Those skilled in the art can make the settings according to their needs.

[0046] In this embodiment, the frame 1 serves as the mounting base for other components, including a rotatable central shaft 11. In some optional implementations of this embodiment, as shown in the attached diagram... Figure 2 As shown, the frame 1 also includes: two base plates 12 and a first connector 13; the two base plates 12 are arranged opposite each other at intervals and connected by the first connector 13, and each of the two base plates 12 is provided with a through hole, and the two ends of the central shaft 11 are inserted into the through hole and can rotate in the through hole.

[0047] With this configuration, the central shaft 11 is located between two spaced-apart substrates 12, which limit and protect the central shaft 11. At this time, the third gear 23, which is mounted on the central shaft 11, is also located between the two substrates 12.

[0048] Optionally, bearings can be fitted at both ends of the central shaft 11, which can not only improve the limiting effect of the substrate 12 on the end of the central shaft 11, but also facilitate the rotation of the central shaft 11.

[0049] In this embodiment, the first connector 13 is disposed between the two substrates 12 to connect them, so that the two substrates 12 are kept relatively fixed at a distance. As an example, the first connector 13 can be a closed shell, which works with the two substrates 12 to form a closed space and fix the two substrates 12.

[0050] As another example, the first connector 13 can be a connecting rod connecting two substrates 12, and the number of connecting rods can be multiple and evenly distributed circumferentially. In this example, both ends of the connecting rod can be welded and fixed to the substrate 12. Alternatively, see Appendix Figure 2The middle part of the connecting rod can be a prism structure, with bolts at both ends. Corresponding through holes are provided on the substrate 12. The bolts at both ends of the connecting rod pass through the through holes on the substrate 12 and are fastened by nuts. The prism end face in the middle abuts against the surface of the substrate 12, so that the two substrates 12 are detachably connected together.

[0051] In this embodiment, the angle measuring instrument 4 is used to measure the rotation angle of the central shaft 11. For example, the angle measuring instrument 4 can be a measuring instrument based on encoder settings.

[0052] Alternatively, the angle measuring instrument 4 can be a current sensor. For example, the angle measuring instrument 4 may include a brush head disposed on the central shaft 11 and an annular capacitor / resistor surrounding the central shaft 11. The brush head is in contact with the capacitor / resistor. When the position of the brush head in contact with the capacitor / resistor changes relative to the rotation of the central shaft 11, the current in the circuit changes. Based on the change in current, the rotation angle of the central shaft 11 can be determined.

[0053] In some optional implementations of this embodiment, as shown in the appendix... Figure 2 As shown, the frame 1 also includes a measuring plate 14 and a second connector 15. The measuring plate 14 is spaced apart from a base plate 12 and connected to it via the second connector 15. The angle measuring instrument 4 includes a magnetic element 41 and a sensing element 42. The magnetic element 41 is disposed on the central axis 11, and the sensing element 42 is disposed on the measuring plate 14 and opposite to the central axis 11.

[0054] In this configuration, the measuring plate 14 provides a mounting base for the sensing element 42. A magnetic element 41 is mounted on the central shaft 11, and the sensing element 42 is opposite to the central shaft 11 and located within the magnetic field of the magnetic element 41. When the central shaft 11 rotates, the sensing element 42 generates an induced current based on the rotation of the magnetic field, and the rotation angle of the central shaft 11 is determined based on this induced current.

[0055] The magnetic element 41 can be a magnet, a steel magnet, etc., and can be mounted on the central shaft 11 or disposed at the end of the central shaft 11 (e.g., Figure 2 The lower surface of the central shaft 11 shown can be used to place the sensing element 42 in the magnetic field of the magnetic element 41.

[0056] The sensing element 42 can be a Hall sensor. It is understood that the angle measuring instrument 4 may also include a processor for receiving the induced current from the sensing element 42 and determining the rotation angle based on the electrical signal. This processor can be configured independently or integrated into the sensing element 42.

[0057] The second connector 15 can be a closed housing or a connecting rod, etc. For specific configuration, please refer to the first connector 13, which will not be described again here.

[0058] Furthermore, since the measuring plate 14 is only used to set the sensing element 42, its area can be relatively small. Those skilled in the art can set it according to the actual situation while meeting the measurement requirements, so as to reduce the space occupied.

[0059] In this embodiment, each second gear 22 is connected to the first third gear 23 in a transmission connection. Regarding the configuration of the transmission mechanism, the following is an optional implementation method:

[0060] In some optional implementations of this embodiment, as shown in the appendix... Figure 2 As shown, the gear assembly mechanism 2 also includes a transmission rod 24 and a transmission gear 25. The transmission rod 24 rotatably passes through the base plate 12. The second gear 22 and the transmission gear 25 are both connected to the transmission rod 24. The transmission gear 25 meshes with the third gear 23.

[0061] With this configuration, the second gear 22 and the transmission gear 25 rotate synchronously. The transmission gear 25 meshes with the third gear 23, thus connecting the third gear 23 to the second gear 22. In this transmission connection method, the tensioning force exerted by the tensioning member 3 on the third gear 23 causes a mutual abutting force on the tooth surfaces of the third gear 23 and the transmission gear 25. Both the second gear 22 and the transmission gear 25 are connected to the transmission rod 24, and the three can be considered as a single unit. The abutting force on the transmission gear 25 is exerted by the second gear 22 on the first gear 21, causing the tooth surfaces of the first gear 21 and the second gear 22 to abut against each other.

[0062] In this embodiment, since the third gear 23 is mounted on the central shaft 11 between the two substrates 12, the corresponding transmission gear 25 can be located between the two substrates 12 to mesh with the third gear 23. The second gear 22 can be located outside the substrate 12 (i.e., not in the space between the two substrates 12), and there can be a larger space to accommodate the first gear 21 that meshes with it.

[0063] In some optional implementations of this embodiment, when the transmission rod 24 rotatably passes through the substrate 12, a bearing is provided between the transmission rod 24 and the substrate 12. In this way, the substrate 12 can both limit the transmission rod 24 and facilitate the sliding of the transmission rod 24.

[0064] The two substrates 12 can each be provided with through holes that are compatible with the transmission rod 24. One end of the transmission rod 24 is inserted into the through hole on one substrate 12, and the other end passes through the through hole on the other substrate 12 and is located outside the substrate 12. In this way, the two points determine a straight line, which makes the limiting effect of the substrate 12 on the transmission rod 24 better.

[0065] Optionally, the diameter of the portion of the transmission rod 24 corresponding to the transmission gear 25 is larger than the diameter of other portions, so as to reinforce the stress area and improve stability.

[0066] In some optional implementations of this 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. In this way, the angle measured by the angle measuring instrument 4 is equal to the rotation angle of the first gear 21, without the need for additional calculations, thus simplifying the calculation process.

[0067] In some optional implementations of this embodiment, one third gear 23 is fixed on the central shaft 11, and another third gear 23 is rotatably mounted on the central shaft 11.

[0068] First, it should be understood that there may be no direct constraint between the two third gears 23. Synchronous rotation of the two third gears 23 can be maintained by their respective transmission connections with the synchronously rotating second gear 22. Since in this embodiment, the two third gears 23 rotate synchronously with the central shaft 11, at least one of the two third gears 23 should be fixed to the central shaft 11. If both third gears 23 are fixed to the central shaft 11, the two third gears 23 and the central shaft 11 can be considered as a single unit. The tension force within this unit has a smaller impact on the external environment. Therefore, in this embodiment, one third gear 23 is fixed to the central shaft 11, and the other third gear 23 is rotatably mounted on the central shaft 11. This allows the tension force of the tensioning member 3 to fully play its role in the entire gear assembly mechanism 2, reducing or eliminating backlash between the gears.

[0069] In this embodiment, the tensioning member 3 is used to generate a tension force between the two third gears 23, and this tension force has a component in the rotation direction of the third gears 23. That is, the connection points between the two ends of the tensioning member 3 and the third gears 23 cannot be in the same position in the circumferential direction. For example, Figure 2 The diagram shows the state of the tensioning member 3 in its non-operating state. In this state, the tensioning member 3 remains vertical, and the tension force of the tensioning member 3 does not have a component force in the rotation direction of the third gear 23. In actual use, the two third gears 23 should maintain a preset angle, and the tensioning member 3 should be tilted before engaging the second gear 22 with the first gear 21. See the attached diagram for a schematic diagram of the usage state. Figure 3 .

[0070] In some optional implementations of this embodiment, the two ends of the tensioning member 3 are equidistant from the center of the third gear 23. With this configuration, the tension of the tensioning member 3 does not have a component force along the radial direction of the third gear 23, thus eliminating ineffective torque within the device.

[0071] In this embodiment, the tensioning element 3 can be a steel wire rope or the like, as long as it can provide a tensioning effect. There can be multiple tensioning elements 3, which can be evenly distributed along the circumference of the third gear 23 to ensure uniform force distribution on the third gear 23 and improve the tensioning effect.

[0072] In this embodiment, as shown in the appendix Figure 5 As shown, to facilitate the connection of the tensioning member 3 to the third gear 23, a perforated hole is provided on the third gear 23 at the connection position with the tensioning member 3, and a connector 231 is provided inside the perforation. The connector 231 includes a rope threading part and an anti-detachment part located at the end of the rope threading part. The anti-detachment part is a large-area arc-shaped structure facing the rope threading part, which acts as a barrier to prevent the end of the tensioning member 3 from falling off. For example, when the tensioning member 3 is a steel wire rope, its rope end can be tied to the rope threading part.

[0073] Example 2

[0074] The same structure as in Embodiment 1 will not be described again in this embodiment, and the same structural parts have the same technical effects, so they will not be described again. According to a specific embodiment of the present invention, in the rotation angle measuring device provided in this embodiment, the tensioning member 3 is an elastic member. With this configuration, the tension of the tensioning member 3 can be easily controlled by the degree of elongation of the tensioning member 3. Thus, before use, the position of the rotatable third gear 23 can be pre-adjusted before meshing, thereby obtaining different tensioning forces. When adjusting the tensioning force, the meshing between the first gear 21 and the second gear 22 is disengaged, the second gear 22 and / or the third gear 23 are rotated until the elastic member is elongated to a preset length, and then the two second gears 22 are meshed with the first gear 21, thus conveniently completing the adjustment process.

[0075] The aforementioned elastic element can be a spring or an elastic band, etc., and this embodiment is not limited to this. For example, when the elastic element is a spring, the hook at the end of the spring can be hung on the rope threading part of the connector 231.

[0076] As can be seen, the rotation angle measuring device provided in this embodiment eliminates backlash during gear transmission. By measuring the rotation angle of the central shaft 11, the rotation angles of the first gear 21, the second gear 22, and the third gear 23 can be determined relatively accurately. Furthermore, by setting the tensioning member 3 as an elastic element to cooperate with the relative rotation between the two third gears 23, the magnitude of the tension can be controlled relatively conveniently.

[0077] Example 3

[0078] The structures identical to those in Embodiments 1 or 2 in this embodiment will not be described again, and the identical structural parts have the same technical effects, which will also not be described again. According to a specific embodiment of the present invention, the present invention provides a multi-angle driving vehicle, including a rotation angle measuring device as described in any of the above claims.

[0079] In some optional implementations of this embodiment, the multi-angle driving vehicle may further include: a frame, and multiple wheel assemblies respectively disposed around the frame. The wheel assemblies are rotatably connected to the frame, and the two are connected by meshing gears. The motor drives the gears to rotate, thereby causing the wheel assemblies to rotate, achieving the purpose of adjusting the vehicle's driving direction. The gear driven by the motor to rotate, thereby causing the wheel assemblies to rotate, can be used as the 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 relationship between the first gear 21 and the central shaft 11, thereby determining the rotation angle of the wheel assemblies and accurately controlling the vehicle's driving direction.

[0080] In summary, the multi-angle driving vehicle provided in this embodiment, by setting the rotation angle measuring device as described above, can accurately measure the rotation angle of the wheel assembly, thereby enabling precise control of the vehicle's driving direction.

[0081] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments will be sufficient. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, their descriptions are relatively simple; for relevant details, refer to the descriptions of the methods.

[0082] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A rotation angle measuring device, characterized in that, include: The frame includes a rotatably mounted central axis; A gear assembly mechanism includes two second gears and two third gears. The two second gears are located in the same plane and mesh with a first gear at two different points. Each second gear is connected to one of the third gears. The two third gears are mounted on a central shaft and rotate synchronously with the central shaft. A tensioning member is provided between the two third gears. The tensioning member exerts a force on each third gear with a component in the rotation direction of the third gear, so that one second gear meshes seamlessly with the first gear in a first direction and the other second gear meshes seamlessly with the first gear in a second direction. An angle measuring instrument, mounted on the frame, is used to measure the rotation angle of the central axis; The third gear has a perforated hole at the position where it connects to the tensioning member. A connector is installed inside the perforation. The connector is configured to block the end of the tensioning member and prevent it from falling off.

2. The apparatus according to claim 1, characterized in that, The angle measuring instrument includes a magnetic element and a sensing element. The magnetic element is disposed on the central axis, and the sensing element is disposed on the frame at a position opposite to the central axis.

3. The apparatus according to claim 2, characterized in that, The frame also includes: two base plates and a first connector; The two substrates are arranged opposite each other at a distance and connected by the first connector. Each of the two substrates is provided with a through hole, and the two ends of the central shaft are inserted into the through holes and can rotate within the through holes.

4. The apparatus according to claim 3, characterized in that, The frame further includes: a measuring plate and a second connector, wherein the measuring plate is disposed opposite to one of the substrates at a distance and connected to it through the second connector; the sensing element is disposed on the upper surface of the measuring plate, and the magnetic element and the sensing element are disposed opposite to each other at a preset distance.

5. The apparatus according to claim 3, characterized in that, The gear assembly mechanism further includes: a transmission rod and a transmission gear, the transmission rod rotatably passing through the base plate, the second gear and the transmission gear being fixedly connected to the transmission rod, and the transmission gear meshing with the third gear; and / or, The transmission gear is located between the two substrates, and the second gear is located outside the two substrates.

6. The apparatus according to claim 5, characterized in that, The transmission ratio between the second gear and the first gear is equal to the transmission ratio between the transmission gear and the third gear.

7. The apparatus according to claim 1, characterized in that, The two ends of the tensioning member are at the same distance from the center of the third gear.

8. The apparatus according to claim 1, characterized in that, One of the third gears is fixed on the central shaft, and the other third gear is rotatably mounted on the central shaft so that the tension of the tensioning member is transmitted through the third gear to the tooth surface where the first gear and the second gear are in contact.

9. The apparatus according to any one of claims 1-8, characterized in that, The tensioning element is an elastic element.

10. A multi-angle driving vehicle, characterized in that, Includes the rotation angle measuring device according to any one of claims 1-9.

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