CN103183049B - Hinge vehicle steering angle detecting device - Google Patents
Hinge vehicle steering angle detecting device Download PDFInfo
- Publication number
- CN103183049B CN103183049B CN201310077336.3A CN201310077336A CN103183049B CN 103183049 B CN103183049 B CN 103183049B CN 201310077336 A CN201310077336 A CN 201310077336A CN 103183049 B CN103183049 B CN 103183049B
- Authority
- CN
- China
- Prior art keywords
- shifting block
- shift lever
- bearing
- curved beam
- lever axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003825 pressing Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 9
- 229920001903 high density polyethylene Polymers 0.000 claims description 3
- 239000004700 high-density polyethylene Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 241001416181 Axis axis Species 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Abstract
The invention discloses hinge vehicle steering angle detecting device, comprise by hinge front vehicle frame together and Rear frame, bearing pin outside a Rear frame pin-and-hole wherein end face has been installed with bearing pin pressing plate, also comprise shifting block, driving lever, shift lever axis, described bearing pin pressing plate is provided with support, described shifting block is fixed in front vehicle frame, shift lever axis is arranged in the bearing seat of described support by bearing, described driving lever wherein one end is connected with shift lever axis, the other end then inserts in the notch of shifting block lower end, described driving lever and shift lever axis ensure not relatively rotate mutually, described driving lever and notch inwall are connected for dynamic.The input shaft of shaft-position encoder is fixedly connected by the upper end of coupler and shift lever axis, and the lower end notch of shifting block and Curved beam move and be connected.The present invention accurately can record the relative steering angle of front/rear frame, and can eliminate because of front/rear frame generation relative torsion, pitching and the angular errors caused.There is good application value.
Description
Technical field
The present invention relates to vehicle rotation angle detecting apparatus, specifically hinge vehicle steering angle detecting device.
Background technology
The function of steering swivel system is the travel direction of maneuver vehicle, and system should be able to keep vehicle stabilization ground linearly to travel as required, and can change travel direction neatly as requested.To the basic demand of steering swivel system be handle light and flexible, working stability reliable, use economical durable, turning efficiency ensures vehicle safe driving, alleviates the labour intensity of chaufeur, improves the key factor of work production rate.Steering swivel system is the crucial assembly determining engineering truck safety and operating efficiency.Engineering truck is if loader, roller etc. are for realizing good turning performance many employings hinge form, the vehicle frame of vehicle is made up of two sections, front and back vehicle frame, forward and backward vehicle frame adopts hinge to connect, and by oil cylinder, front vehicle frame is kept from Rear frame or change relative angle and make vehicle with different negotiation of bends radiuses at ground handling.
Along with the raising of application scenario working condition requirement and the development of current technology, the performance need of wheel steering system improves further, solve in original steering swivel system also exist sensitivity unadjustable, there is no the problems such as road feel, for improving turning efficiency, scientific worker is devoted to research steering-by-wire technology.It to be connected by microelectronic technique and each element controlling steering swivel system replaces traditional machinery or hydraulic connecting.Owing to eliminating the mechanical connection between bearing circle and wheel flutter, the various restrictions of conventional steering system are completely free of, therefore make the design of vehicle, assembling greatly simplify, but also can the force transfering characteristic that turns to of free design vehicle and angle transmission characteristic, be the significant innovation of wheel steering system.Steering-by-wire technology employing sensor record driver turns to data, by data line by signal transmission to the micro-control unit (MCU) on car, the comprehensively relevant signal of MCU judges, send the instruction controlling Vehicular turn, then the angle signal that MCU detection vehicle turns over compares with given instruction, form closed loop feedback to control, realize handling maneuver that is stable, secure high performance.
Existing steering angle detection technique scheme installs the very large linear displacement transducer of axial dimension in the two ends cross-over connection of steering cylinder, the steering angle of indirect inspection vehicle is carried out by the stroke measuring steering cylinder, but the very large location comparison residing for steering cylinder of length is close to ground, sensor described in vehicle operation is easily subject to the impact of the unrestrained material scampered, so that destroys sensor.Front vehicle frame and the Rear frame hinged place of articulated vehicle are provided with ball pivot, there is complicated relatively rotating between the two, if detecting device design is unreasonable, easily cause outer corner measurement error, therefore the relative steering angle how accurately recording front/rear frame becomes a key issue in wire-controlled steering system research.
Therefore design a kind of hinge vehicle steering angle detecting device to become and be necessary very much, be conducive to the exploitation, the Developing Application that promote wire-controlled steering system.
In addition, through retrieval, in same domain, between front/rear frame, the detecting device that turns to of sensor is not adopted to remain a blank at present.
Summary of the invention
The object of the present invention is to provide hinge vehicle steering angle detecting device, what solve in prior art the front vehicle frame of destroying sensor and articulated vehicle and Rear frame hinged place complexity relatively rotates the outer corner measurement error problem caused.
In order to reach above-mentioned purpose, present invention employs following technical scheme, hinge vehicle steering angle detecting device, comprise by hinge front vehicle frame together and Rear frame, bearing pin outside a Rear frame pin-and-hole wherein end face has been installed with bearing pin pressing plate, also comprise shifting block, driving lever, shift lever axis, described bearing pin pressing plate is provided with support, described shifting block is fixed in front vehicle frame, shift lever axis is arranged in the bearing seat of described support by bearing, described driving lever wherein one end is connected with shift lever axis, the other end then inserts in the notch of shifting block lower end, described driving lever and shift lever axis ensure not relatively rotate mutually, described driving lever and notch inwall are connected for dynamic.
Described shift lever axis upper end is connected by the input shaft of coupler with the shaft-position encoder of top, and described shaft-position encoder is fixedly mounted on the upper end of support, and the axial line of described shaft-position encoder is consistent with the axial line of shift lever axis.
Described shifting block is fixed on front vehicle frame sidewall by the Curved beam of below and supporting seat, and the two ends of described Curved beam are fixedly connected on supporting seat, and longitudinally two sides in the notch of described shifting block lower end are formed to move with two longitudinal sides of Curved beam and are connected.
Be connected in front vehicle frame by spring on the downside of described shifting block, at least one bearing is provided with between shifting block and Curved beam, described bearing is arranged in the notch of shifting block lower end by minor axis, and under the action of the spring, the outer ring outside face of described bearing contacts with the upper surface of Curved beam.
The upper surface that described Curved beam contacts with outside race is circular arc camber, and two sides of described Curved beam are provided with low friction coefficient materials lining.
Described low friction coefficient materials lining is polytetrafluoroethylmaterial material or high-density polyethylene material.
Described front vehicle frame and Rear frame, by after hinge, when front/rear frame keeps zero angle to turn to, are provided with a symmetrical line of the front/rear frame perpendicular through bearing pin axial line.
Described support installing makes the axial line of shift lever axis perpendicular through symmetric line and the position making the axial line of shift lever axis concentric with the axial line of bearing pin.
Compared to prior art, the present invention has following beneficial effect:
Accurately can record the relative steering angle of front/rear frame, and can eliminate because of front/rear frame generation relative torsion, pitching and the angular errors caused.There is good application value.
Be embodied in, when current vehicle frame and Rear frame generation relative torsion, front vehicle frame can drive Curved beam to swing, sliding motion is had between Curved beam and shifting block, because the outer ring of bearing in the notch of shifting block lower end contacts with the upper surface of Curved beam, therefore the swing of Curved beam only can make shifting block up-and-down movement, this motion can not make shifting block drive driving lever to rotate around shift lever axis axis, can not produce additional angular errors.When current vehicle frame, with Rear frame, relative pitching occurs, driving lever can slide up and down in the notch of shifting block upper end, and this motion can not cause driving lever around the rotation of shift lever axis axis, therefore can not produce additional angular errors.Thus realize the object of Measurement accuracy hinge vehicle steering angle.
Accompanying drawing explanation
Fig. 1 is the front view of hinge vehicle steering angle detecting device of the present invention;
Fig. 2 is the birds-eye view of hinge vehicle steering angle detecting device of the present invention;
Fig. 3 is the A-A cutaway view in Fig. 1.
In figure: front vehicle frame 1, supporting seat 2, spring 3, Curved beam 4, shifting block 5, driving lever 6, support 7, shift lever axis 8, coupler 9, shaft-position encoder 10, bearing pin pressing plate 11, Rear frame 12, bearing pin 13, bearing 14, minor axis 15, low friction coefficient materials lining 16.
Detailed description of the invention
Detailed description for the present invention and technology contents, coordinate accompanying drawing to be described as follows, but accompanying drawing only provides with reference to the use with explanation, is not used for being limited the present invention.
With reference to accompanying drawing 1-Fig. 3, bearing pin pressing plate 11 is welded on the upper end of bearing pin 13, described bearing pin pressing plate 11 is bolted with Rear frame 12 and connects, front vehicle frame 1 and Rear frame 12 are by bearing pin 13 articulated lifting arm, and hinge vehicle steering angle detecting device mainly comprises supporting seat 2, spring 3, Curved beam 4, shifting block 5, driving lever 6, support 7, shift lever axis 8, coupler 9, shaft-position encoder 10, bearing 14, minor axis 15 and low friction coefficient materials lining 16, described support 7 is bolted and is connected on bearing pin pressing plate 11, described shift lever axis 8 is arranged on by bearing in the bearing seat of support 7, described shaft-position encoder 10 is mounted by means of bolts on the upper end of support 7, the input shaft of described shaft-position encoder 10 is fixedly connected by the upper end of coupler 9 with shift lever axis 8, the axial line of described shaft-position encoder 10 is installed with the axial line of shift lever axis 8 is concentric, described driving lever 6 is fixedly connected on shift lever axis 8 by key, described supporting seat 2 is welded in front vehicle frame 1, the two ends of described Curved beam 4 are bolted and are connected on supporting seat 2, two sides in the notch of described shifting block 5 lower end and two sides of Curved beam 4 are moved and are connected, two sides in the notch of described shifting block 5 upper end and two sides of driving lever 6 left end are moved and are connected, be connected in front vehicle frame 1 by spring 3 on the downside of described shifting block 5, described bearing 14 is arranged in the notch of shifting block 5 lower end by minor axis 15, under the effect of spring 3, the outer ring of described bearing 14 contacts with the upper surface of Curved beam 4, front vehicle frame 1 and Rear frame 12 are by after bearing pin 13 articulated lifting arm, when front/rear frame keeps zero angle to turn to, standardized bar is perpendicular through the symmetrical line Ο of the front/rear frame-O of bearing pin 13 axial line, and described support 7 is arranged on by bolt and makes the axial line of shift lever axis 8 perpendicular through symmetric line Ο-O and the position making the axial line of shift lever axis 8 concentric with the axial line of bearing pin 13.The upper surface that described Curved beam 4 contacts with bearing 14 outer ring is circular arc camber, two sides of described Curved beam 4 are provided with low friction coefficient materials lining 16, described low friction coefficient materials lining 16 is polytetrafluoroethylmaterial materials, also can be high-density polyethylene material.
When hinge Vehicular turn, under the promotion of steering cylinder, certain angle can be turned between front vehicle frame 1 and Rear frame 12, the Curved beam 4 be fixed in front vehicle frame 1 drives driving lever 6 to turn over corresponding angle around the axis of shift lever axis 8 by shifting block 5, thus make the shaft-position encoder 10 connected by coupler 9 to shift lever axis 8 turn over corresponding angle, generation electric signal exports, and records the relative steering angle between front vehicle frame 1 with Rear frame 12.When there is relative torsion with Rear frame 12 in current vehicle frame 1, front vehicle frame 1 can drive Curved beam 4 to swing, sliding motion is had between Curved beam 4 and shifting block 5, because the outer ring of the bearing 14 in the notch of shifting block 5 lower end contacts with the upper surface of Curved beam 4, therefore the swing of Curved beam 4 only can make shifting block 5 up-and-down movement, this motion can not make shifting block 5 drive driving lever 6 to rotate around shift lever axis 8 axis, can not produce additional angular errors.When current vehicle frame 1, with Rear frame 12, relative pitching occurs, driving lever 6 can slide up and down in the notch of shifting block 5 upper end, and this motion can not cause driving lever 6 around the rotation of shift lever axis 8 axis, therefore can not produce additional angular errors.Thus realize the object of Measurement accuracy hinge vehicle steering angle.
The foregoing is only preferred embodiment of the present invention, be not used to limit the scope of the claims of the present invention, other use the equivalence of patent spirit of the present invention to change, and all should all belong to the scope of the claims of the present invention.
Claims (4)
1. hinge vehicle steering angle detecting device, comprise by hinge front vehicle frame together and Rear frame, bearing pin outside a Rear frame pin-and-hole wherein end face has been installed with bearing pin pressing plate, it is characterized in that, also comprise shifting block, driving lever, shift lever axis, described bearing pin pressing plate is provided with support, described shifting block is fixed in front vehicle frame, shift lever axis is arranged in the bearing seat of described support by bearing, described driving lever wherein one end is connected with shift lever axis, the other end then inserts in the notch of shifting block upper end, described driving lever and shift lever axis ensure not relatively rotate mutually, described driving lever and notch inwall are connected for dynamic, described shifting block is fixed on front vehicle frame upper surface by the Curved beam of below and supporting seat, and the two ends of described Curved beam are fixedly connected on supporting seat, and longitudinally two sides in the notch of described shifting block lower end are formed to move with two longitudinal sides of Curved beam and are connected, described shift lever axis upper end is connected by the input shaft of coupler with the shaft-position encoder of top, and described shaft-position encoder is fixedly mounted on the upper end of support, and the axial line of described shaft-position encoder is consistent with the axial line of shift lever axis.
2. hinge vehicle steering angle detecting device according to claim 1, it is characterized in that, below described shifting block, also spring is set, spring upper end connects shifting block lower end, and lower spring end connects front vehicle frame, and spring drives shifting block up-and-down movement, at least one bearing is provided with between shifting block and Curved beam, described bearing is arranged in the notch of shifting block lower end by minor axis, and under the action of the spring, the outer ring outside face of described bearing contacts with the upper surface of Curved beam.
3. hinge vehicle steering angle detecting device according to claim 2, is characterized in that, the upper surface that described Curved beam contacts with outside race is circular arc camber, and two longitudinal sides of described Curved beam are provided with low friction coefficient materials lining.
4. hinge vehicle steering angle detecting device according to claim 3, is characterized in that, described low friction coefficient materials lining is polytetrafluoroethylmaterial material or high-density polyethylene material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310077336.3A CN103183049B (en) | 2013-03-12 | 2013-03-12 | Hinge vehicle steering angle detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310077336.3A CN103183049B (en) | 2013-03-12 | 2013-03-12 | Hinge vehicle steering angle detecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103183049A CN103183049A (en) | 2013-07-03 |
| CN103183049B true CN103183049B (en) | 2015-08-12 |
Family
ID=48674573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310077336.3A Active CN103183049B (en) | 2013-03-12 | 2013-03-12 | Hinge vehicle steering angle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103183049B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359168B (en) * | 2013-07-19 | 2015-12-02 | 青岛科技大学 | Articulated vehicle steering angle detecting device |
| CN107237269A (en) * | 2017-07-17 | 2017-10-10 | 中铁工程机械研究设计院有限公司 | A kind of many car group synchronous control systems of beam car based on pid loop and method |
| CN114516367A (en) * | 2022-03-30 | 2022-05-20 | 清华大学 | Automatic angle control system of unmanned road roller |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3435394A1 (en) * | 1984-09-27 | 1986-04-03 | Robert Bosch Gmbh, 7000 Stuttgart | Method for steering a road vehicle train and steerable road vehicle train for carrying out the method |
| US4583756A (en) * | 1983-02-19 | 1986-04-22 | Daimler Benz Aktiengesellschaft | Anti-buckling control system for articulated vehicles |
| CN101376405A (en) * | 2008-09-05 | 2009-03-04 | 卢灿光 | Rotating angle sensor |
| CN103112496A (en) * | 2013-01-10 | 2013-05-22 | 青岛科技大学 | Pin-hinged vehicle steering angle detection device |
| CN203005522U (en) * | 2013-01-10 | 2013-06-19 | 青岛科技大学 | Pin shaft articulated vehicle steering angle detecting device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3719883B2 (en) * | 1999-09-27 | 2005-11-24 | Ｔｃｍ株式会社 | Body refraction vehicle |
-
2013
- 2013-03-12 CN CN201310077336.3A patent/CN103183049B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4583756A (en) * | 1983-02-19 | 1986-04-22 | Daimler Benz Aktiengesellschaft | Anti-buckling control system for articulated vehicles |
| DE3435394A1 (en) * | 1984-09-27 | 1986-04-03 | Robert Bosch Gmbh, 7000 Stuttgart | Method for steering a road vehicle train and steerable road vehicle train for carrying out the method |
| CN101376405A (en) * | 2008-09-05 | 2009-03-04 | 卢灿光 | Rotating angle sensor |
| CN103112496A (en) * | 2013-01-10 | 2013-05-22 | 青岛科技大学 | Pin-hinged vehicle steering angle detection device |
| CN203005522U (en) * | 2013-01-10 | 2013-06-19 | 青岛科技大学 | Pin shaft articulated vehicle steering angle detecting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103183049A (en) | 2013-07-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203005522U (en) | Pin shaft articulated vehicle steering angle detecting device | |
| CN103183049B (en) | Hinge vehicle steering angle detecting device | |
| US20060022420A1 (en) | Wheel end steering sensor system | |
| CN103395445B (en) | Hinge vehicle steering angle method of inspection and device | |
| CN103359161A (en) | Vehicle steer-by-wire steering wheel device | |
| CN103112496A (en) | Pin-hinged vehicle steering angle detection device | |
| CN116848040A (en) | System for detecting failure of ackerman steering mechanism | |
| CN103359164B (en) | For the steering wheel arrangement of steering-by-wire vehicle | |
| CN204641877U (en) | Articulated vehicle steering angle detecting device | |
| CN103183050B (en) | Turning angle detection device of wheel type loading machine | |
| CN103171612A (en) | Steer-by-wire vehicle steering wheel limit mechanism | |
| CN104296907B (en) | Measure back the method for positive frictional resistance moment, device and return normal anomaly investigation method | |
| CN104925133A (en) | Articulated vehicle steering angle detection device | |
| CN101696909B (en) | Performance test control system for automobile steering system | |
| CN103085875A (en) | Integrated line control independent turning suspension frame guide mechanism system | |
| CN103171613A (en) | Vehicle steer-by-wire mode switching limit device | |
| CN102826147A (en) | Reset mechanism and steering device of self-balancing two-wheeled robot utilizing reset mechanism | |
| CN203345019U (en) | Vehicle drive-by-wire steering wheel device | |
| CN103359168B (en) | Articulated vehicle steering angle detecting device | |
| CN202225908U (en) | Dual front-axle power steering device of automobile crane | |
| CN203345025U (en) | Articulated vehicle steering angle detecting device | |
| CN103085876A (en) | Steering angel detecting device of pin roll hinged vehicle | |
| CN203078594U (en) | Steering angle detection device for pin shaft hinged vehicle | |
| CN104197951B (en) | Automotive follow-up mileage measuring device | |
| CN111251799A (en) | Hydro-pneumatic suspension system, position detection method thereof and engineering vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20160616 Granted publication date: 20150812 |
|
| RINS | Preservation of patent right or utility model and its discharge | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20161216 Granted publication date: 20150812 |
|
| PP01 | Preservation of patent right |
Effective date of registration: 20161216 Granted publication date: 20150812 |
|
| RINS | Preservation of patent right or utility model and its discharge | ||
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20170616 Granted publication date: 20150812 |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20170616 Granted publication date: 20150812 |
|
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20200616 Granted publication date: 20150812 |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20200616 Granted publication date: 20150812 |