CN107226133A - The wheel steering angle measurement apparatus and measuring method of a kind of breakaway-element Ackermann steering gear system - Google Patents
The wheel steering angle measurement apparatus and measuring method of a kind of breakaway-element Ackermann steering gear system Download PDFInfo
- Publication number
- CN107226133A CN107226133A CN201710381820.3A CN201710381820A CN107226133A CN 107226133 A CN107226133 A CN 107226133A CN 201710381820 A CN201710381820 A CN 201710381820A CN 107226133 A CN107226133 A CN 107226133A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- breakaway
- corner
- measurement apparatus
- gear system
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
Abstract
The invention discloses a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system and measuring method, wheel steering angle measurement apparatus includes rotary angle transmitter, branch sleeve and scotch, one end of branch sleeve is fixedly connected with the shell of rotary angle transmitter, and making the central axis of rotary angle transmitter in branch sleeve, scotch is fixed on the central shaft of rotary angle transmitter by pin.When installing and using, the other end of branch sleeve is fixedly connected with the swing arm of steering, and scotch is buckled in the stop hole that swing arm vertical shaft is opened up along its axis, its have it is simple in construction, easy to use, measure accurate advantage.Measuring method comprises the following steps：Measure the corner of left swing arm in real time by rotary angle transmitter；According to the corner of the left swing arm measured in real time, the corner of left wheel is calculated in real time using space mechanism's method；According to the corner of the left swing arm measured in real time, the corner of right wheel is calculated in real time using space mechanism's method.Measuring method has the advantages that real-time, reliability is high.
Description
Technical field
The present invention relates to a kind of wheel steering angle measurement apparatus, more particularly, to a kind of for breakaway-element Ackermann steering gear system
Wheel steering angle measurement apparatus, and wheel steering angle measuring method.
Background technology
For heavy extraordinary chassis, the characteristics of because having large-tonnage, many number of axle, high cross-country ability, its steering
It is general to use multi-axle steering technology.In recent years, with the development trend of heavy extraordinary chassis high maneuverability, to ensure chassis behaviour
Handing stability and driving safety, increasing chassis is using the automatically controlled packet steering scheme of multiaxis.The automatically controlled packet of multiaxis is turned to
System is generally using propons group wheel steering angle as control reference quantity, using back axle group wheel steering angle as control feedback quantity, to back axle
Group wheel steering angle carries out closed-loop control.Wheel steering angle measurement in real time is the key that multiaxis is grouped automatically controlled steering technique.Due to heavy type
The characteristics of extraordinary chassis has high cross-country ability, wheel hop amount is larger, main to use breakaway-element Ackermann steering gear transmission mechanism, its
Wheel has coupled bounce with the motion of knuckle with turning to, it is difficult to carry out independent measurement to divertical motion, and this gives direct measurement car
Wheel corner brings difficulty.Current this area measures the technical scheme of wheel steering angle by pull bar and swing arm combination, not only structure
Complicated, poor rigidity, and be difficult to wheel hop amount being completely eliminated, cause measurement accuracy poor.
The content of the invention
It is an object of the invention to provide a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system and measuring method,
The wheel steering angle measurement apparatus has simple in construction, easy to use, the accurate advantage of measurement, and the measuring method has real-time
The property high advantage of strong, reliability.
For solve to measure that wheel steering angle is present by pull bar and swing arm combination in the prior art complicated, poor rigidity,
The problem of measurement accuracy is poor, the invention provides a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system, including turns
Angle transducer, branch sleeve and scotch, one end of the branch sleeve are fixedly connected with the shell of rotary angle transmitter, and make to turn
The central axis of angle transducer is in branch sleeve, and the scotch is fixed on the central shaft of rotary angle transmitter by pin；
When installing and using, allow the other end of the branch sleeve to be fixedly connected with the swing arm of steering, and scotch is buckled in pendulum
In the stop hole that arm vertical shaft is opened up along its axis.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the corner
Sensor is photoelectric encoder.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the connection
Sleeve is bolt, riveting or welding with the mode that is fixedly connected of rotary angle transmitter shell.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the connection
Sleeve is bolt with the mode that is fixedly connected of rotary angle transmitter shell.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the connection
Sleeve is bolt, riveting or welding with the mode that is fixedly connected of steering swing arm.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the connection
Sleeve is bolt with the mode that is fixedly connected of steering swing arm.
Further, the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention, wherein, the stop
Block and stop hole are using rectangle, triangle, trapezoidal, rhombus or the ellipse cooperated.
Present invention also offers a kind of method that wheel steering angle to breakaway-element Ackermann steering gear system is measured, including with
Lower step：
First, the shell of rotary angle transmitter is fixedly connected with the left swing arm of steering by branch sleeve, and makes corner
Scotch on center sensor axle is buckled in the stop hole that left swing arm vertical shaft is opened up along its axis；
2nd, the corner of left swing arm is measured in real time by rotary angle transmitter；
3rd, according to left swing arm, left side pull bar, left tie rod arm, left steering section motion transitive relation, and measure in real time
The corner of left swing arm, the corner of left wheel is calculated using space mechanism's method in real time；
4th, according to left swing arm, drag link, right swing arm, the right pull bar, right tie rod arm, right turn section motion transitive relation,
And the corner of the left swing arm measured in real time, calculate the corner of right wheel in real time using space mechanism's method.
The present invention a kind of the wheel steering angle measurement apparatus and measuring method and prior art phase of breakaway-element Ackermann steering gear system
Than with advantages below：Wheel steering angle measurement apparatus allows adapter sleeve by setting rotary angle transmitter, branch sleeve and scotch
One end of cylinder is fixedly connected with the shell of rotary angle transmitter, and the central axis for making rotary angle transmitter allows only in branch sleeve
Motion block is fixed on the central shaft of rotary angle transmitter by pin.When installing and using, the other end and steering system of branch sleeve are allowed
The swing arm of system is fixedly connected, and scotch is buckled in the stop hole that swing arm vertical shaft is opened up along its axis.Pass through above structure
Set and just constitute a kind of wheel steering angle measurement simple in construction, easy to use, the accurate breakaway-element Ackermann steering gear system of measurement
Device.In actual applications, the present invention is by allowing the housing of rotary angle transmitter to be fixedly connected by branch sleeve with swing arm, and allows
Scotch on rotary angle transmitter central shaft is buckled in the stop hole that swing arm vertical shaft is opened up along axis, in swing arm around swing arm vertical shaft
The housing of rotary angle transmitter will be driven to be rotated around central shaft during rotation, swing arm corner is measured in real time so as to realize
Purpose.The divertical motion of wheel steering section and wheel comes from side pull bar to the pulling for the steering trapezoidal arm for being secured to connect, and
The motion of side pull bar comes from rotation of the swing arm around swing arm vertical shaft.Because swing arm vertical shaft is to be fixed on vehicle frame by swing arm vertical shaft bearing
On, make the rotary motion for only having transmission turning between swing arm and vehicle frame, in the absence of his coupled motions, and because swing arm is around swing arm
The rotation of vertical shaft and the divertical motion of knuckle and wheel have one-to-one relationship, by the swing arm corner of measurement, using sky
Between institutionalization can calculate wheel steering angle in real time.The present invention by using swing arm corner as directly measured quantities, with measurement letter
Just the characteristics of, reliability is high, and the influence of Suspension movement is completely eliminated, improve the accuracy of measurement.The measuring method
Have the advantages that real-time, reliability is high.
Shown embodiment is to a kind of wheel steering angle of breakaway-element Ackermann steering gear system of the invention below in conjunction with the accompanying drawings
Measurement apparatus is described in further detail：
Brief description of the drawings
Fig. 1 is a kind of stereogram of the wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention
Fig. 2 is a kind of plan view of the wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention；
Fig. 3 is a kind of top view of the wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention；
Fig. 4 is the A-A direction views in Fig. 2；
Fig. 5 is a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention and divided steering linkage system
The annexation schematic diagram of system；
Fig. 6 is that a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention and left swing arm and left swing arm are vertical
The annexation schematic diagram of axle；
Fig. 7 is that a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system of the invention and left swing arm and left swing arm are vertical
The annexation sectional view of axle；
Fig. 8 is the transformational relation curve map of left swing arm corner and left wheel corner；
Fig. 9 is the transformational relation curve map of left swing arm corner and right wheel steering angle.
Embodiment
The specific reality of the wheel steering angle measurement apparatus of a kind of breakaway-element Ackermann steering gear system of the invention as shown in Figures 1 to 4
Apply mode, including rotary angle transmitter 1, branch sleeve 2 and scotch 3.Allow branch sleeve 2 one end and rotary angle transmitter 1 it is outer
Shell is fixedly connected, and makes the central axis of rotary angle transmitter 1 in branch sleeve 2.Allow scotch 3 to be fixed on by pin 4 to turn
On the central shaft of angle transducer 1.When installing and using, the other end of branch sleeve 2 is allowed to be fixedly connected with the swing arm of steering,
And scotch 3 is buckled in the stop hole that swing arm vertical shaft is opened up along axis.A kind of knot is just constituted by above structure setting
Structure is simple, easy to use, the wheel steering angle measurement apparatus of the accurate breakaway-element Ackermann steering gear system of measurement.In actual applications,
The present invention allows the center of rotary angle transmitter 1 by allowing the housing of rotary angle transmitter 1 to be fixedly connected by branch sleeve 2 with swing arm
Scotch 3 on axle is buckled in the stop hole that swing arm vertical shaft is opened up along axis, during swing arm is around swing arm vertical shaft rotating
The housing of rotary angle transmitter 1 will be driven to be rotated around central shaft, so as to realize the purpose of measurement swing arm corner in real time.Knuckle
Side pull bar is come to the pulling for the steering trapezoidal arm for being secured to connect with the divertical motion of wheel, and the motion of side pull bar comes from
Rotation of the swing arm around swing arm vertical shaft.Because swing arm vertical shaft is to be fixed on by swing arm vertical shaft bearing on vehicle frame, make swing arm and car
Between frame only have transmission turning rotary motion, in the absence of other coupled motions, but due to swing arm around swing arm vertical shaft rotation with
The divertical motion of knuckle and wheel has one-to-one relationship, by the swing arm corner measured in real time, using space mechanism's method
Wheel steering angle can be calculated in real time.The present invention by using swing arm corner as directly measured quantities, with measurement is easy, reliability
High the characteristics of, and the influence of Suspension movement can be eliminated, improve the accuracy of measurement.
It should be noted that the rotary angle transmitter 1 in the present invention generally uses high-resolution human photoelectric encoder, it can be carried
For the output of dual-channel analog amount, the reliability of outer corner measurement can guarantee that.The fixed company of branch sleeve 2 and the shell of rotary angle transmitter 1
The mode of connecing can preferably be bolted mode, the purpose of fast assembling-disassembling can be achieved using various ways such as bolt, riveting or welding.Similarly,
Branch sleeve 2 also can be using various ways, preferably bolt such as bolt, riveting or welding with the mode that is fixedly connected of steering swing arm
Mode is connect, to realize fast assembling-disassembling.And the stop hole on scotch 3 and swing arm vertical shaft can be using the rectangle, triangle cooperated
The various shapes such as shape, trapezoidal, rhombus or ellipse, as long as the relative rotation between limitation scotch 3 and swing arm vertical shaft can be reached
The technical purpose of the present invention can be achieved.In addition, above-mentioned swing arm refers to any swing arm in breakaway-element Ackermann steering gear system, both may be used
To be the simple pendulum arm in left swing arm or right skill arm or simple pendulum arm steering, swing arm vertical shaft refers to corresponding swing arm rotation
Rotating shaft, can its technical purpose in fact using the wheel steering angle measurement apparatus of the present invention.
As shown in Figures 5 to 9, surveyed present invention also offers a kind of wheel steering angle to breakaway-element Ackermann steering gear system
The method of amount, comprises the following steps：
First, the shell of rotary angle transmitter 1 is fixedly connected with the left swing arm 5 of steering by branch sleeve 2, and makes to turn
Scotch 3 on the central shaft of angle transducer 1 is buckled in the stop hole that left swing arm vertical shaft 6 is opened up along its axis；
2nd, the corner of left swing arm 5 is measured in real time by rotary angle transmitter 1；
3rd, according to left swing arm 5, left side pull bar 8, left tie rod arm 9, left steering section 10 motion transitive relation, and in real time
The corner of the left swing arm 5 measured, the corner of left wheel is calculated using space mechanism's method in real time；
4th, according to left swing arm 5, drag link 11, right swing arm 12, the right pull bar 13, right tie rod arm 14, right turn section 15 fortune
Dynamic transitive relation, and the left swing arm 5 measured in real time corner, calculate the corner of right wheel in real time using space mechanism's method.
To help it will be understood by those skilled in the art that the present invention, as shown in Figure 7 to 9, disconnects to one kind of the invention below
The principle of the wheel steering angle measurement apparatus of formula Ackermann steering gear system carries out schematic illustration：
In breakaway-element Ackermann steering gear system, left and right turn section is fixedly connected with the left and right wheelses of vehicle bridge, left and right turn section
Corner be left and right wheelses corner.In vehicle travel process, because the motion of left and right turn section has coupled wheel steering
Motion and wheel hop, it is difficult to independent measurement is carried out to its divertical motion.
The present invention is mounted with that wheel steering angle is measured according to the architectural characteristic of breakaway-element Ackermann steering gear system on left swing arm 5
Device.In motion transitive relation, the divertical motion of left steering section 10 comes from the left steering that 8 pairs of left side pull bar is secured to connection
The pulling of tie rod arm 9, the motion of left side pull bar 8 comes from rotation of the left swing arm 5 around left swing arm vertical shaft 6.Because left swing arm 5 is to pass through
Bearing arrangement is arranged on left swing arm vertical shaft 6, and left swing arm vertical shaft 6 is to fix to connect by left swing arm vertical shaft bearing 7 and vehicle frame
Connect, left swing arm 5 will not be coupled for the rotary motion relative frame of left swing arm vertical shaft 6 with other motions such as wheel hop.
Left swing arm 5 passes through transmission and the left steering section 10 of left side pull bar 8 and left steering trapezoid connection 9 around the rotary motion of left swing arm vertical shaft 6
Divertical motion there is one-to-one relationship.Passed according to the motion of left swing arm 5, left side pull bar 8, left tie rod arm 9, left steering section 10
Relation is passed, turn of left steering section 10 and left wheel can be calculated in real time according to the corner of left swing arm 5 of measurement using space mechanism's method
Angle.And left swing arm 5 transfers the motion to right swing arm 12 by drag link 11 around the rotary motion of left swing arm vertical shaft 6 and right swing arm is vertical
Axle 16, then right turn section 15 is transferred the motion to by the right pull bar 13 and right steering trapezoid connection 14, left swing arm 5 is vertical around left swing arm
The rotary motion of axle 6 also has one-to-one relationship with the divertical motion of right turn section 15.According to left swing arm 5, drag link 11, the right side
Swing arm 12, the right pull bar 13, right tie rod arm 14, the motion transitive relation of right turn section 15, can foundation using space mechanism's method
The corner of left swing arm 5 of measurement calculates the corner of right turn section 15 and right wheel in real time.
The present invention will be switched off the swing arm corner of formula Ackermann steering gear system as straight by using wheel steering angle measurement apparatus
Measurement amount is connect, movement relation is changed by space mechanism's method, you can measure wheel steering angle in real time, facilitate with measurement,
Accurate advantage, is completely eliminated the influence of Suspension movement, and have compact conformation, arrange convenient, easy-disassembling-assembling advantage.
Above example is only the description carried out to the preferred embodiment of the present invention, and model not is claimed to the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technology of this area engineers and technicians according to the present invention
In the various forms of deformations that scheme is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (8)
1. a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system, it is characterised in that including rotary angle transmitter (1),
Branch sleeve (2) and scotch (3), one end of the branch sleeve (2) are fixedly connected with the shell of rotary angle transmitter (1), and
Make the central axis of rotary angle transmitter (1) in branch sleeve (2), the scotch (3) is fixed on corner by pin (4) and passed
On the central shaft of sensor (1)；When installing and using, the other end of the branch sleeve (2) and the swing arm of steering is allowed to fix and connect
Connect, and scotch (3) is buckled in the stop hole that swing arm vertical shaft is opened up along its axis.
2. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim 1, it is characterised in that
The rotary angle transmitter (1) is photoelectric encoder.
3. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim 1, it is characterised in that
The branch sleeve (2) is bolt, riveting or welding with the mode that is fixedly connected of rotary angle transmitter (1) shell.
4. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim 3, it is characterised in that
The branch sleeve (2) is bolt with the mode that is fixedly connected of rotary angle transmitter (1) shell.
5. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim 1, it is characterised in that
The branch sleeve (2) is bolt, riveting or welding with the mode that is fixedly connected of steering swing arm.
6. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim 5, it is characterised in that
The branch sleeve (2) is bolt with the mode that is fixedly connected of steering swing arm.
7. according to a kind of wheel steering angle measurement apparatus of breakaway-element Ackermann steering gear system described in claim any one of 1-6, its
It is characterised by, the scotch (3) and stop hole are using rectangle, triangle, trapezoidal, rhombus or the ellipse cooperated.
8. the side that measurement apparatus described in a kind of use claim 1 is measured to the wheel steering angle of breakaway-element Ackermann steering gear system
Method, it is characterised in that comprise the following steps：
First, the shell of rotary angle transmitter (1) is fixedly connected with the left swing arm of steering by branch sleeve (2), and makes to turn
Scotch (3) on angle transducer (1) central shaft is buckled in the stop hole that left swing arm vertical shaft is opened up along its axis；
2nd, the corner of left swing arm is measured in real time by rotary angle transmitter (1)；
3rd, according to left swing arm, left side pull bar, left tie rod arm, left steering section motion transitive relation, and the left swing measured in real time
The corner of arm, the corner of left wheel is calculated using space mechanism's method in real time；
4th, according to left swing arm, drag link, right swing arm, the right pull bar, right tie rod arm, right turn section motion transitive relation, and
The corner of the left swing arm measured in real time, the corner of right wheel is calculated using space mechanism's method in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710381820.3A CN107226133A (en) | 2017-05-26 | 2017-05-26 | The wheel steering angle measurement apparatus and measuring method of a kind of breakaway-element Ackermann steering gear system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710381820.3A CN107226133A (en) | 2017-05-26 | 2017-05-26 | The wheel steering angle measurement apparatus and measuring method of a kind of breakaway-element Ackermann steering gear system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107226133A true CN107226133A (en) | 2017-10-03 |
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ID=59933484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710381820.3A Pending CN107226133A (en) | 2017-05-26 | 2017-05-26 | The wheel steering angle measurement apparatus and measuring method of a kind of breakaway-element Ackermann steering gear system |
Country Status (1)
| Country | Link |
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| CN (1) | CN107226133A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234795A (en) * | 2021-12-17 | 2022-03-25 | 上海易咖智车科技有限公司 | Mechanical range detection device for corner of transport vehicle |
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| EP1783034A2 (en) * | 2005-11-03 | 2007-05-09 | Valeo Schalter und Sensoren GmbH | Steering angle / steering torque sensor |
| CN202827730U (en) * | 2012-09-28 | 2013-03-27 | 耐世特汽车系统（苏州）有限公司 | Efficient angle transmission angular transducer adaptor and automobile provided with the same |
| CN103528498A (en) * | 2013-09-17 | 2014-01-22 | 湖北三江航天红峰控制有限公司 | Self-adaptive flexible connection structure of angle transducer in servo mechanism |
| CN203957777U (en) * | 2014-06-04 | 2014-11-26 | 湖北航天技术研究院特种车辆技术中心 | Angular transducer anchor fitting and use the suspension position fixing system of this device |
| CN205706853U (en) * | 2016-06-08 | 2016-11-23 | 徐州重型机械有限公司 | The pitman arm of built-in angular transducer and crane |
-
2017
- 2017-05-26 CN CN201710381820.3A patent/CN107226133A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1783034A2 (en) * | 2005-11-03 | 2007-05-09 | Valeo Schalter und Sensoren GmbH | Steering angle / steering torque sensor |
| CN202827730U (en) * | 2012-09-28 | 2013-03-27 | 耐世特汽车系统（苏州）有限公司 | Efficient angle transmission angular transducer adaptor and automobile provided with the same |
| CN103528498A (en) * | 2013-09-17 | 2014-01-22 | 湖北三江航天红峰控制有限公司 | Self-adaptive flexible connection structure of angle transducer in servo mechanism |
| CN203957777U (en) * | 2014-06-04 | 2014-11-26 | 湖北航天技术研究院特种车辆技术中心 | Angular transducer anchor fitting and use the suspension position fixing system of this device |
| CN205706853U (en) * | 2016-06-08 | 2016-11-23 | 徐州重型机械有限公司 | The pitman arm of built-in angular transducer and crane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114234795A (en) * | 2021-12-17 | 2022-03-25 | 上海易咖智车科技有限公司 | Mechanical range detection device for corner of transport vehicle |
| CN114234795B (en) * | 2021-12-17 | 2024-02-13 | 上海易咖智车科技有限公司 | Transport vechicle corner mechanical range detection device |
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Application publication date: 20171003 |