CN106143599B - Wheel steering angle measuring device, control system, measurement method and control method - Google Patents
Wheel steering angle measuring device, control system, measurement method and control method Download PDFInfo
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- CN106143599B CN106143599B CN201510158113.9A CN201510158113A CN106143599B CN 106143599 B CN106143599 B CN 106143599B CN 201510158113 A CN201510158113 A CN 201510158113A CN 106143599 B CN106143599 B CN 106143599B
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Abstract
The present invention relates to a kind of wheel steering angle measuring devices, control system, measurement method and control method, wherein wheel steering angle measuring device is used to measure the rotational angle of wheel on vehicle, vehicle further includes vehicle bridge and knuckle, wheel is fixedly mounted on knuckle, knuckle is rotatably coupled by stub and vehicle bridge, vehicle further includes swing rod, swing rod is fixedly connected with knuckle, wheel steering angle measuring device includes stay wire displacement sensor, bracing wire and anchorage shoe, stay wire displacement sensor is fixedly mounted in vehicle bridge, anchorage shoe is fixedly mounted on swing rod, bracing wire connecting stay wire displacement sensor and anchorage shoe, stub, stay wire displacement sensor connects to form triangle with anchorage shoe, the rotational angle of wheel is determined with bracing wire length measured by stay wire displacement sensor.The present invention varies without existing structure, quick and easy for installation, and convenient for promoting, corner, measurement accuracy and reliability higher are calculated using the triangle formed in space.
Description
Technical field
The present invention relates to general vehicle technical field more particularly to a kind of wheel steering angle measuring device, control system, measurements
Method and control method.
Background technology
In order to improve power and loading capacity, the damage of road pavement, the structure of more axles of heavy-duty car generally use are reduced.
In recent years, since the trend developed to enlargement, heavy-duty is presented in special purpose vehicle and engineering truck so that heavy and superduty
Vehicle have developed rapidly, and in these vehicles, steering shaft is all more than two axis, and for vehicle more than three axis, this allows for multiple-axle vehicle
Steering become the new issue that faces of heavy-duty car producer.
The steering behaviour of heavy vehicle directly influences maneuverability, control stability and the usage economy of vehicle.
The state that best steering procedure requires all wheels fricton-tight all in pure rolling, or only minimum sliding；In addition,
From the angle of steering flexibility and control stability, it is desirable that multi-wheeler can use Double phase steering technology, i.e.,：Automobile
It when running at a low speed, is turned to using phase reversal, rear-axle steering and front-wheel steer are on the contrary, to reduce turning radius at this time；It runs at high speed
When, it is turned to using same-phase, rear-axle steering is identical as front-wheel steer at this time, to improve control stability.
In order to realize that above-mentioned steering technique, scheme used in the prior art are broadly divided into two kinds：Change existing vehicle bridge
Structure type and do not change existing axle structure form.The scheme for changing axle structure needs to change original vehicle as its name suggests
Bridge structure, axle structure may bring other component to be also required to change after changing, therefore this mode needs extra consumption big
Financial resources, material resources and the manpower of amount；Do not change the scheme of existing axle structure form, mainly encoder be mounted in vehicle bridge,
Two swing rods are attached separately on encoder and wheel hub, and centre is connected with pull rod, form parallelogram, and hub rotation drives coding
Device rotates, to measure wheel steering angle.But this scenario-frame is complicated, and its swing rod and pull rod will ensure in the same level
Parallelogram is formed on face, installation is inconvenient, easily generates outer corner measurement error because manufacturing, assembling；In addition, due in installation process
In can not ensure that rotary encoder is completely concentric with axis of rotation, thus survey of the rotary encoder in rotation process may be led to
It is one oval to measure track, to bring measured deviation.
Invention content
The purpose of the present invention is to propose to a kind of wheel steering angle measuring device, control system, measurement method and control method, energy
Enough effectively improve the accuracy and reliability of wheel steering angle measurement.
To achieve the above object, the present invention provides a kind of wheel steering angle measuring devices, for measuring wheel on vehicle
Rotational angle, the vehicle further include vehicle bridge and knuckle, and the wheel is fixedly mounted on the knuckle, the knuckle
It is rotatably coupled by stub and the vehicle bridge, the vehicle further includes swing rod, and the swing rod is fixed with the knuckle to be connected
It connects, the wheel steering angle measuring device includes stay wire displacement sensor, bracing wire and anchorage shoe, the bracing wire displacement sensing
Device is fixedly mounted in the vehicle bridge, and the anchorage shoe is fixedly mounted on the swing rod, described in the bracing wire connection
Dress is fixed in stay wire displacement sensor and the anchorage shoe, the stub, the stay wire displacement sensor and the bracing wire
It sets connection and forms triangle, the rotation of the wheel is determined with bracing wire length measured by the stay wire displacement sensor
Angle.
Further, the anchorage shoe includes guy bolt and nut, and the guy bolt is internally provided with drawing
Wire casing, for wearing the bracing wire, the guy bolt includes head and free end, and bracing wire hole, institute are provided on the head
It states bracing wire hole to be connected to the bracing wire slot, the outer surface of the free end is provided with external screw thread, the inner surface setting of the nut
There are internal thread, the external screw thread to cooperate with the internal thread.
Further, the anchorage shoe further includes bracing wire block, and the bracing wire block is embedded in the bracing wire slot, described
The threading groove being connected to the bracing wire hole and the bracing wire slot is provided on bracing wire block.
Further, there is the nut blind end, the blind end can prevent water and dust from entering the bracing wire slot
It is interior.
To achieve the above object, the present invention also provides a kind of wheel steering angle control systems, including above-mentioned wheel steering angle
Measuring device, hydrostatic sensor and controller, the hydrostatic sensor is arranged on the oil circuit being connected to power-assisted oil cylinder, described to help
Power cylinder provides power, the controller and the wheel steering angle measuring device and the hydraulic sensing for the steering of the wheel
Device is electrically connected, and can be controlled according to the pressure of wheel steering angle and the power-assisted oil cylinder measured by the wheel steering angle measuring device
Wheel steering executing agency processed adjusts the corner of the wheel in real time.
Further, the controller includes receiving unit, storage unit and computing unit, and the reception can be used in connecing
The data of the stay wire displacement sensor are received, the storage unit can prestore the anchorage shoe to the stub
Distance and the stay wire displacement sensor to the distance of the stub, the computing unit is according to the receiving unit and described
The data of storage unit calculate the corner of the wheel.
Further, the data of the stay wire displacement sensor include that the stay wire displacement sensor is fixed with the bracing wire
The distance between device.
Further, the controller further includes wheel steering judging unit and real-time adjustment unit, the wheel steering
Judging unit judges the steering of the wheel, institute according to the rod chamber pressure and rodless cavity pressure of the power-assisted oil cylinder
Real-time adjustment unit is stated to carry out the ideal corner of wheel steering angle and the wheel measured by the wheel steering angle measuring device
Comparison, and control the wheel steering executing agency and the wheel steering angle is corrected in real time.
To achieve the above object, the present invention also provides a kind of wheel steering angle measurement methods, including：
Stay wire displacement sensor and anchorage shoe are provided；
The stay wire displacement sensor is fixedly mounted in vehicle bridge, knuckle is connect by stub with wheel, described turn
It is also associated with swing rod on section, the anchorage shoe is fixedly mounted on the swing rod, the drawing is connected using bracing wire
Linear movement pick-up and the anchorage shoe；
The stub, the stay wire displacement sensor are connected with the anchorage shoe, triangle is formed, according to three
The angular cosine law calculates line and the stay wire displacement sensor and the master of the anchorage shoe and the stub
Angle between the line of pin to get the wheel corner.
To achieve the above object, the present invention also provides a kind of wheel steering angles based on above-mentioned wheel steering angle measurement method
Control method, including：
Above-mentioned wheel steering angle measurement method is provided, and using the wheel steering angle measurement method to the corner of the wheel
It is measured in real time；
Power-assisted oil cylinder is provided, the steering for the wheel provides power, provides hydrostatic sensor, be arranged with the power-assisted
On the oil circuit of oil cylinder connection, and measure using the hydrostatic sensor pressure of the power-assisted oil cylinder；
Controller is provided, is electrically connected with the wheel steering angle measuring device and the hydrostatic sensor, and according to the vehicle
The pressure of the wheel steering angle and the power-assisted oil cylinder measured by corner measuring apparatus is taken turns, control wheel steering executing agency is to described
The steering of wheel is adjusted in real time.
Based on the above-mentioned technical proposal, the present invention is in vehicle bridge by being fixedly mounted stay wire displacement sensor, with knuckle
Anchorage shoe is fixedly mounted on the swing rod of connection so that 3 points of stub, stay wire displacement sensor and anchorage shoe it
Between connect into triangle, drive knuckle rotation, knuckle band driven fork to swing when due to vehicle wheel rotation, and bracing wire displacement sensing
Device is fixed in vehicle bridge, therefore between the line and stay wire displacement sensor and the line of stub of anchorage shoe and stub
Angle, the as rotational angle of wheel, the angle can be calculated by the triangle cosine law.The program haves no need to change
The structure of original vehicle bridge and knuckle, it is quick and easy for installation, convenient for promoting；Parallelogram in compared with the prior art measures
Method, wheel steering angle measuring device of the invention are not necessarily to the plane of device itself keeping horizontal, and a triangle is formed in space
Shape, therefore can be to avoid the wheel steering angle measurement error caused by four-wheel aligner, measurement accuracy and reliability higher.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the assembly relation schematic diagram of wheel steering angle measuring device one embodiment of the present invention.
Fig. 2 is the main view schematic cross-sectional view of guy bolt one embodiment of the present invention.
Fig. 3 is the left view schematic diagram of guy bolt in Fig. 2 embodiments of the present invention.
Fig. 4 is the structural schematic diagram of bracing wire block one embodiment of the present invention.
Fig. 5 is the left view schematic diagram of nut one embodiment of the present invention.
Fig. 6 is the schematic cross-sectional view of nut in Fig. 5 embodiments of the present invention.
In figure：1- wheels, 2- knuckles, 3- swing rods, 4- guy bolts, 4a- bracing wires hole, 4b- bracing wire slots, 4c- external screw threads,
4d- bracing wire blocks, 4e- threading grooves, 5- bracing wires, 6- stay wire displacement sensors, 7- stubs, 8- nuts, 9- internal threads.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in embodiment
It states.Obviously, described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Bright embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " transverse direction ", " longitudinal direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the scope of the present invention.
In order to improve the accuracy and reliability of wheel steering angle measurement, measures and fill the present invention provides a kind of wheel steering angle
It sets, as shown in Figure 1, the rotational angle for measuring wheel 1 on vehicle, the vehicle further includes vehicle bridge and knuckle 2, the vehicle
Wheel 1 is fixedly mounted on the knuckle 2, and the knuckle 2 is rotatably coupled by stub 7 and the vehicle bridge, the vehicle
Further include swing rod 3, the swing rod 3 is fixedly connected with the knuckle 2, and the wheel steering angle measuring device includes bracing wire displacement
Sensor 6, bracing wire 5 and anchorage shoe, the stay wire displacement sensor 6 are fixedly mounted in the vehicle bridge, the bracing wire
Fixing device is fixedly mounted on the swing rod 3, and the bracing wire 5 connects the stay wire displacement sensor 6 and the bracing wire is fixed
Device, the stub 7, the stay wire displacement sensor 6 connect to form triangle with the anchorage shoe, with according to
Bracing wire length measured by stay wire displacement sensor 6 determines the rotational angle of the wheel 1.
The present invention in vehicle bridge by being fixedly mounted stay wire displacement sensor, the fixed peace on the swing rod being connect with knuckle
Anchoring fixing device so that triangle is connected between 3 points of stub, stay wire displacement sensor and anchorage shoe, due to
Knuckle rotation is driven when vehicle wheel rotation, knuckle band driven fork is swung, and stay wire displacement sensor is fixed in vehicle bridge, therefore
Angle between the line and stay wire displacement sensor and the line of stub of anchorage shoe and stub, the as rotation of wheel
Angle, the angle can be calculated by the triangle cosine law.The program haves no need to change original vehicle bridge and knuckle
Structure, it is quick and easy for installation, convenient for promoting；Parallelogram measurement method in compared with the prior art, wheel of the invention
Corner measuring apparatus is not necessarily to the plane of device itself keeping horizontal, forms a triangle in space, therefore can keep away
Exempt from the wheel steering angle measurement error caused by four-wheel aligner, measurement accuracy and reliability higher.
In the embodiment of the wheel steering angle measuring device of the present invention, one of effect of anchorage shoe is fixed bracing wire,
And provide a vertex for triangle.The specific constructive form of anchorage shoe can there are many, as long as its work can be realized
With.
In addition, stay wire displacement sensor can also use displacement sensor for pull rope, bracing wire may be drawstring, why select
Stay wire displacement sensor and bracing wire are selected to measure the distance between vehicle bridge and swing rod, bracing wire is allowed for or drawstring facilitates pulling,
And with the rotation of wheel, bracing wire is with being drawn out, and while bracing wire pulls out, stay wire displacement sensor can be measured in real time
The pull-out length of bracing wire coordinates the length on two other side, corner can be calculated by the cosine law in this way.
And two other side is the company of the line and stay wire displacement sensor and stub of anchorage shoe and stub respectively
Line, once fixed position and anchorage shoe fixed position on swing rod of the stay wire displacement sensor in vehicle bridge determines it
Afterwards, the length of this two lines is exactly known, those data can prestore in the controller, and certainly above-mentioned bracing wire displacement passes
Fixed position and anchorage shoe fixed position on swing rod of the sensor in vehicle bridge is to carry out according to actual needs
Selection.
In a preferred embodiment, anchorage shoe may include guy bolt 4 and nut 8, as shown in Fig. 2,
For the main view schematic cross-sectional view of guy bolt one embodiment of the present invention, as shown in figure 5, for nut one embodiment of the present invention
Left view schematic diagram, the guy bolt 4 are internally provided with bracing wire slot 4b, and for wearing the bracing wire 5, the guy bolt 4 wraps
Head and free end are included, bracing wire hole 4a is provided on the head, as shown in figure 3, the bracing wire hole 4a and bracing wire slot 4b
Connection, the outer surface of the free end are provided with external screw thread 4c, and the inner surface of the nut 8 is provided with internal thread 9, such as Fig. 6 institutes
Show, the external screw thread 4c cooperates with the internal thread 9.
In above-described embodiment, anchorage shoe is fixedly mounted on swing rod 3 by the cooperation of guy bolt 4 and nut 8
On.The bracing wire 5 pulled out from stay wire displacement sensor 6, penetrates from the bracing wire hole 4a on 4 head of guy bolt in bracing wire slot 4b, then lead to
The external screw thread 4c and the mutual cooperation of the internal thread 9 of 8 inner surface of nut for crossing the free end outer surface of guy bolt 4 are fixed.
This is simple and reliable for structure, can efficiently use bracing wire and accurately measure between stay wire displacement sensor 6 and anchorage shoe
Distance.
In another preferred embodiment, the anchorage shoe can also include bracing wire block 4d, as shown in figure 4,
The bracing wire block 4d is embedded in the bracing wire slot 4b, is provided on the bracing wire block 4d and the bracing wire hole 4a and the bracing wire slot
The threading groove 4e that 4b is connected to.Threading groove 4e in bracing wire block 4d provides for bracing wire 5 accommodates place, and can be to avoid bracing wire 5
Winding, flexible material can also be laid in threading groove 4e, reduces the abrasion of bracing wire 5.
In addition, the nut 8 can have blind end, the blind end that can prevent water and dust from entering the bracing wire slot
In 4b.The effect of the blind end is mainly water proof and dust proof, and thickness can be set as needed.
As shown in Figure 1, for the structural schematic diagram of one preferred embodiment of wheel steering angle measuring device of the present invention.If bracing wire position
6 position of displacement sensor is A points, and anchorage shoe position is B points, and 7 position of stub is C points, then A, B, C
Three point attachment at triangle,WithBetween angle a be angle that wheel turns over.And bracing wire distanceIt can be by bracing wire
The measurement of displacement sensor 6 show that, simultaneously because stay wire displacement sensor 6 is fixed in vehicle bridge, guy bolt 4 is fixed on swing rod
On, therefore guy bolt 4 arrives the distance of stubAnd stay wire displacement sensor 6 arrives the distance of stubAll be it is known,
It can measure in advance and related data is stored in controller, then controller receives stay wire displacement sensor 6 again
Related data, you can obtained according to the triangle cosine law：
By calculating, wheel steering angle a：
When at 3 point of A, B, C point-blank, a=0 ° of wheel steering angle at this time.
Based on above-mentioned wheel steering angle measuring device, the present invention also provides a kind of wheel steering angle control system, the wheels
Corner control system includes above-mentioned wheel steering angle measuring device, hydrostatic sensor and controller, and the hydrostatic sensor setting exists
On the oil circuit being connected to power-assisted oil cylinder, the power-assisted oil cylinder provides power for the steering of the wheel 1, the controller with it is described
Wheel steering angle measuring device and hydrostatic sensor electrical connection, can be according to the vehicle measured by the wheel steering angle measuring device
The pressure of corner and the power-assisted oil cylinder is taken turns, control wheel steering executing agency adjusts the corner of the wheel 1 in real time
It is whole.
The wheel steering angle control system of the present invention, surveys the corner of wheel by wheel steering angle measuring device in real time
Amount is measured the pressure of power-assisted oil cylinder using hydrostatic sensor, can be determined according to the pressure of power-assisted cylinder rod chamber and rodless cavity
The steering direction of wheel, for example it is just that wheel right-hand rotation corner is negative, and controller is according to practical survey that wheel left-hand rotation corner, which can be arranged,
The wheel steering angle and steering direction obtained, can control associated components and be adjusted in real time to the corner of wheel, so that wheel
Corner reaches perfect condition, that is, the state for making all wheels fricton-tight all in pure rolling, or only minimum sliding.
Above controller may be used digital signal processor, application-specific integrated circuit, field programmable gate array or its
His programmable logic device, discrete gate either transistor logic, discrete hardware components or it is arbitrary appropriately combined, certainly
Any controller can not also be used, but by being manually calculated.
In a preferred embodiment, the controller includes receiving unit, storage unit and computing unit, described to connect
The data of the stay wire displacement sensor 6 can be received by receiving unit, and the storage unit can prestore the bracing wire and fix
Device to the stub 7 distance and the stay wire displacement sensor 6 arrive the stub 7 distance, the computing unit according to
The data of the receiving unit and the storage unit calculate the corner of the wheel 1.
In another preferred embodiment, the data of the stay wire displacement sensor 6 include the bracing wire displacement sensing
The distance between device 6 and the anchorage shoe.
In addition, the controller can also include wheel steering judging unit and real-time adjustment unit, the wheel steering
Judging unit judges the steering of the wheel 1, institute according to the rod chamber pressure and rodless cavity pressure of the power-assisted oil cylinder
Real-time adjustment unit is stated to carry out the ideal corner of wheel steering angle and the wheel measured by the wheel steering angle measuring device
Comparison, and control the wheel steering executing agency and the wheel steering angle is corrected in real time.
The corner measuring apparatus and control system of the present invention can be applied on various vehicles, for example both can be applied to list
On axis vehicle, it can also be applied on multi-shaft steering vehicle, both can be applied to heavy duty crane, engineering vehicle, cargo vehicle
On equal heavy vehicles, it is first-class the special vehicles such as ambulance, fire fighting truck can also to be applied to.
The present invention also provides a kind of wheel steering angle measurement methods, including：Stay wire displacement sensor is provided and bracing wire is fixed
Device；
The stay wire displacement sensor is fixedly mounted in vehicle bridge, knuckle is connect by stub with wheel, described turn
It is also associated with swing rod on section, the anchorage shoe is fixedly mounted on the swing rod, the drawing is connected using bracing wire
Linear movement pick-up and the anchorage shoe；
The stub, the stay wire displacement sensor are connected with the anchorage shoe, triangle is formed, according to three
The angular cosine law calculates line and the stay wire displacement sensor and the master of the anchorage shoe and the stub
Angle between the line of pin to get the wheel corner.
Based on above-mentioned wheel steering angle measurement method, the present invention also provides a kind of wheel steering angle control methods, including：It carries
The corner of the wheel is surveyed in real time for above-mentioned wheel steering angle measurement method, and using the wheel steering angle measurement method
Amount；
Power-assisted oil cylinder is provided, the steering for the wheel provides power, provides hydrostatic sensor, be arranged with the power-assisted
On the oil circuit of oil cylinder connection, and measure using the hydrostatic sensor pressure of the power-assisted oil cylinder；
Controller is provided, is electrically connected with the wheel steering angle measuring device and the hydrostatic sensor, and according to the vehicle
The pressure of the wheel steering angle and the power-assisted oil cylinder measured by corner measuring apparatus is taken turns, control wheel steering executing agency is to described
The steering of wheel is adjusted in real time.
It is described about the structure and effect of above-mentioned wheel steering angle measuring device and the multiple embodiments of control system, it is equally applicable
In wheel steering angle measurement method and control method, which is not described herein again.
Pass through multiple embodiments to wheel steering angle measuring device of the present invention, control system, measurement method and control method
Explanation, it can be seen that wheel steering angle measuring device, control system, measurement method and control method embodiment of the present invention at least have
There is one or more of advantage：
1) simple in structure, install convenient is more accurate than corner value measured by existing parallelogram measurement method.
2) it is not necessarily to the plane of device itself keeping horizontal, is measured, can be kept away using the triangle formed in space
Exempt from the wheel steering angle measurement error caused by four-wheel aligner.
3) solid and reliable, at guy bolt use Seal Design, water proof anti-soil, increase service life, save at
This.
4) it can be promoted and applied on multiaxis wheeled vehicle.
5) primary structure for varying without vehicle bridge and knuckle can be good at the corner for measuring wheel in real time.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of wheel steering angle measuring device, the rotational angle for measuring wheel on vehicle (1), the vehicle further include vehicle bridge
With knuckle (2), the wheel (1) is fixedly mounted on the knuckle (2), and the knuckle (2) passes through stub (7) and institute
It states vehicle bridge to be rotatably coupled, which is characterized in that the vehicle further includes swing rod (3), the swing rod (3) and the knuckle
(2) it being fixedly connected, the wheel steering angle measuring device includes stay wire displacement sensor (6), bracing wire (5) and anchorage shoe,
The stay wire displacement sensor (6) is fixedly mounted in the vehicle bridge, and the anchorage shoe is fixedly mounted on the swing rod
(3) on, the bracing wire (5) connects the stay wire displacement sensor (6) and the anchorage shoe, the stub (7), described
Stay wire displacement sensor (6) connects to form triangle with the anchorage shoe, with according to the stay wire displacement sensor (6)
Measured bracing wire length determines the rotational angle of the wheel (1).
2. wheel steering angle measuring device according to claim 1, which is characterized in that the anchorage shoe includes bracing wire
Bolt (4) and nut (8), the guy bolt (4) are internally provided with bracing wire slot (4b), described for wearing the bracing wire (5)
Guy bolt (4) includes head and free end, and bracing wire hole (4a), the bracing wire hole (4a) and the drawing are provided on the head
Wire casing (4b) is connected to, and the outer surface of the free end is provided with external screw thread (4c), and the inner surface of the nut (8) is provided with interior spiral shell
Line (9), the external screw thread (4c) cooperate with the internal thread (9).
3. wheel steering angle measuring device according to claim 2, which is characterized in that the anchorage shoe further includes drawing
Line block (4d), the embedded bracing wire slot (4b) of the bracing wire block (4d) is interior, is provided with and the bracing wire on the bracing wire block (4d)
The threading groove (4e) that hole (4a) is connected to the bracing wire slot (4b).
4. wheel steering angle measuring device according to claim 2, which is characterized in that the nut (8) has blind end, institute
Stating blind end can prevent water and dust from entering in the bracing wire slot (4b).
5. a kind of wheel steering angle control system, which is characterized in that surveyed including wheel steering angle according to any one of claims 1-4
Amount device, hydrostatic sensor and controller, the hydrostatic sensor are arranged on the oil circuit being connected to power-assisted oil cylinder, the power-assisted
Oil cylinder provides power for the steering of the wheel (1), and the controller is passed with the wheel steering angle measuring device and the hydraulic pressure
Sensor be electrically connected, can according to the pressure of wheel steering angle and the power-assisted oil cylinder measured by the wheel steering angle measuring device,
Control wheel steering executing agency adjusts the corner of the wheel (1) in real time.
6. wheel steering angle control system according to claim 5, which is characterized in that the controller include receiving unit,
Storage unit and computing unit, the receiving unit can receive the data of the stay wire displacement sensor (6), and the storage is single
Member can prestore the anchorage shoe to the distance and the stay wire displacement sensor (6) of the stub (7) to institute
The distance of stub (7) is stated, the computing unit calculates the wheel according to the data of the receiving unit and the storage unit
(1) corner.
7. wheel steering angle control system according to claim 6, which is characterized in that the stay wire displacement sensor (6)
Data include the distance between the stay wire displacement sensor (6) and the anchorage shoe.
8. wheel steering angle control system according to claim 6, which is characterized in that the controller further includes wheel steering
Judging unit and real-time adjustment unit, the wheel steering judging unit is according to the rod chamber pressure of the power-assisted oil cylinder and without bar
Cavity pressure judges the steering of the wheel (1) the real-time adjustment unit is surveyed the wheel steering angle measuring device
The ideal corner of the wheel steering angle and the wheel that obtain is compared, and controls the wheel steering executing agency to the wheel
Corner is corrected in real time.
9. a kind of wheel steering angle measurement method, which is characterized in that including：
Stay wire displacement sensor and anchorage shoe are provided；
The stay wire displacement sensor is fixedly mounted in vehicle bridge, knuckle is connect by stub with wheel, the knuckle
On be also associated with swing rod, the anchorage shoe is fixedly mounted on the swing rod, bracing wire is utilized to connect the bracing wire position
Displacement sensor and the anchorage shoe；
The stub, the stay wire displacement sensor are connected with the anchorage shoe, triangle is formed, according to triangle
The cosine law calculates the line of the anchorage shoe and the stub and the stay wire displacement sensor and the stub
Angle between line to get the wheel corner.
10. a kind of wheel steering angle control method, which is characterized in that including：
Wheel steering angle measurement method as claimed in claim 9 is provided, and using the wheel steering angle measurement method to the vehicle
The corner of wheel is measured in real time；
Power-assisted oil cylinder is provided, the steering for the wheel provides power, provides hydrostatic sensor, be arranged with the power-assisted oil cylinder
On the oil circuit of connection, and measure using the hydrostatic sensor pressure of the power-assisted oil cylinder；
Controller is provided, is carried out with the hydrostatic sensor and using the wheel steering angle measurement method to the corner of the wheel
Measure in real time wheel steering angle measuring device electrical connection, and the wheel steering angle measured by the wheel steering angle measuring device and
The pressure of the power-assisted oil cylinder, control wheel steering executing agency adjust the steering of the wheel in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158113.9A CN106143599B (en) | 2015-04-03 | 2015-04-03 | Wheel steering angle measuring device, control system, measurement method and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158113.9A CN106143599B (en) | 2015-04-03 | 2015-04-03 | Wheel steering angle measuring device, control system, measurement method and control method |
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| Publication Number | Publication Date |
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| CN106143599A CN106143599A (en) | 2016-11-23 |
| CN106143599B true CN106143599B (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510158113.9A Active CN106143599B (en) | 2015-04-03 | 2015-04-03 | Wheel steering angle measuring device, control system, measurement method and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108646045A (en) * | 2018-04-20 | 2018-10-12 | 华南农业大学 | A kind of forklift wheel corner measuring device and method |
| CN109795554A (en) * | 2019-02-01 | 2019-05-24 | 天津农学院 | A kind of vehicle angle sensors mounting structure convenient for adjusting |
| CN110207665A (en) * | 2019-07-16 | 2019-09-06 | 贵州电网有限责任公司 | A kind of electric pole inclination angle measurement device and its measurement method |
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