CN114104105A - Steering angle measuring device and trailer - Google Patents
Steering angle measuring device and trailer Download PDFInfo
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- CN114104105A CN114104105A CN202010864883.6A CN202010864883A CN114104105A CN 114104105 A CN114104105 A CN 114104105A CN 202010864883 A CN202010864883 A CN 202010864883A CN 114104105 A CN114104105 A CN 114104105A
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- frame
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- 238000005096 rolling process Methods 0.000 claims description 10
- 230000010365 information processing Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 3
- 210000005069 ears Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The invention relates to a steering angle measuring device and a trailer, wherein the steering angle measuring device comprises a fixed seat, a measuring arm and a corner sensor; the elastic piece is arranged on the fixed seat and used for applying elastic force to the measuring arm to enable the measuring arm to be tightly abutted against the second frame. The fixing base of the steering angle measuring device is fixed on the first frame and is hinged with the second frame through the hinge structure, the measuring arm is tightly abutted to the second frame under the action of the elastic piece, when the first frame is detached from the second frame, the measuring arm can be separated from the second frame, dismounting is not needed, the corner sensor is arranged on the first frame and is not needed to be detached, and compared with the current steering angle measuring device, the technical problem that the dismounting efficiency is low due to the fact that the current steering angle measuring device needs to dismount the corner sensor when the front frame and the rear frame are dismounted is solved.
Description
Technical Field
The invention relates to a steering angle measuring device and a trailer.
Background
In the field of automatic driving of the trailer, in order to know the state of the trailer in real time, the change of the steering angle between the front frame and the rear frame needs to be measured in real time, so that the trend of the trailer can be controlled according to the state of the trailer.
Chinese patent No. CN104925133B entitled announcement date 2018.06.01 discloses an articulated vehicle steering angle detection device for measuring the relative steering angle of front and rear frames, the support is fixedly connected to the rear frame, the bearing pin shaft is connected to the support, the output shaft of the angle sensor is coaxially fixed to the large pin shaft, the front frame is hinged to the rear frame through the large pin shaft, when the front frame and the rear frame are disassembled, the large pin shaft and the angle sensor need to be disassembled, and when the front frame and the rear frame are assembled, the large pin shaft and the angle sensor are assembled again. For the trailer driven automatically, the trailer needs to be frequently disassembled from the trailer, and the efficiency of disassembling the trailer from the trailer can be seriously affected by adopting the steering angle measuring device.
Disclosure of Invention
The invention aims to provide a steering angle measuring device, which is used for solving the technical problem of low dismounting efficiency caused by the fact that a turning angle sensor needs to be dismounted when a front frame and a rear frame of the conventional steering angle measuring device are dismounted;
in addition, the invention also aims to provide a trailer using the steering angle measuring device.
The steering angle measuring device adopts the following technical scheme:
the steering angle measuring device includes:
the fixing seat is used for being fixed on the first frame and is provided with a detachable hinge structure which is hinged with the second frame, and a hinge axis of the hinge structure extends up and down;
the measuring arm is arranged on the fixed seat in a swinging mode, the swinging axis extends up and down, and the measuring arm is used for abutting against the second frame so as to swing relative to the first frame when the first frame and the second frame are steered relatively;
a rotation angle sensor for measuring a change in rotation angle of the measuring arm;
and the elastic piece is arranged on the fixed seat and used for applying elastic force to the measuring arm to enable the measuring arm to be tightly abutted against the second frame.
The invention has the beneficial effects that: the fixing seat of the steering angle measuring device is fixed on a first frame and is hinged with a second frame through a hinge structure, a measuring arm is tightly abutted to the second frame under the action of an elastic piece, when the first frame and the second frame relatively turn, a corner sensor can measure the corner change of the measuring arm, and further the relative steering angle of the first frame and the second frame can be calculated, when the first frame and the second frame are disassembled, the measuring arm can be separated from the second frame without disassembly and assembly, and the corner sensor is arranged on the first frame without disassembly.
Furthermore, a rolling part is arranged on the measuring arm, and the measuring arm is tightly pressed with the second frame through the rolling part.
Has the advantages that: the rolling part can reduce the frictional force of measuring arm and second frame, avoids the jamming of the two, reduces wearing and tearing.
Further, the elastic member is a torsion spring.
Has the advantages that: the torsion spring is simple in structure, convenient to install and good in stability.
Furthermore, the first frame is a front frame, the second frame is a rear frame, the hinge structure comprises two hinge lugs arranged at intervals, hinge holes for the pin shaft to pass through are formed in the two hinge lugs, the interval between the two hinge lugs is used for the traction rod on the second frame to insert, and the measuring arm is used for being abutted against the traction rod on the second frame.
Has the advantages that: the fixing seat is fixed on the front frame and is hinged with the traction rod through the two hinge lugs, so that the stability is good, and the rear frame can be more conveniently mounted during dismounting.
Further, the measuring arm is a folding arm and comprises a first folding rod and a second folding rod, the first folding rod and the second folding rod are hinged, the first folding rod and the second folding rod have a folding state and an unfolding state, a limiting structure is arranged at the hinged position of the first folding rod and the second folding rod and used for limiting the maximum opening angle of the first folding rod and the second folding rod when the first folding rod and the second folding rod are in the unfolding state, and when the measuring arm and the second frame are tightly supported under the action of the elastic part, the first folding rod and the second folding rod keep the maximum opening angle.
Has the advantages that: can make first folding rod and second folding rod be in fold condition when dismantling two frames through folding arm, provide great space, the operation of being convenient for.
The technical scheme of the trailer of the invention is as follows:
the trailer comprises a first frame and a second frame which are hinged with each other,
the trailer still includes steering angle measuring device and information processing unit, and steering angle measuring device includes:
the fixed seat is fixed on the first frame and is provided with a hinge structure which is hinged with the second frame and can be detached, and a hinge axis of the hinge structure extends up and down;
the measuring arm is arranged on the fixed seat in a swinging mode, the swinging axis extends up and down, and the measuring arm is used for abutting against the second frame so as to swing relative to the first frame when the first frame and the second frame are steered relatively;
a rotation angle sensor for measuring a change in rotation angle of the measuring arm;
the elastic piece is arranged on the fixed seat and used for applying elastic force to the measuring arm to enable the measuring arm to be tightly abutted against the second frame;
the information processing unit is connected with the corner sensor to receive the measurement information of the corner sensor.
The invention has the beneficial effects that: the fixing seat of the steering angle measuring device is fixed on the first frame and is hinged with the second frame through the hinge structure, the measuring arm is tightly abutted to the second frame under the action of the elastic part, when the first frame and the second frame relatively turn, the corner sensor can measure the corner change of the measuring arm, and further the relative steering angle of the first frame and the second frame can be calculated, when the first frame and the second frame are disassembled, the measuring arm can be separated from the second frame, the disassembly and assembly are not needed, the corner sensor is arranged on the first frame and is not needed to be disassembled, and the technical problem that the disassembly and assembly efficiency is low due to the fact that the corner sensor needs to be disassembled and assembled when the front frame and the rear frame are disassembled by the conventional steering angle measuring device is solved.
Furthermore, a rolling part is arranged on the measuring arm, and the measuring arm is tightly pressed with the second frame through the rolling part.
Has the advantages that: the rolling part can reduce the frictional force of measuring arm and second frame, avoids the jamming of the two, reduces wearing and tearing.
Further, the elastic member is a torsion spring.
Has the advantages that: the torsion spring is simple in structure, convenient to install and good in stability.
Furthermore, the first frame is a front frame, the second frame is a rear frame, the hinge structure comprises two hinge lugs arranged at intervals, hinge holes for the pin shaft to pass through are formed in the two hinge lugs, the interval between the two hinge lugs is used for the traction rod on the second frame to insert, and the measuring arm is used for being abutted against the traction rod on the second frame.
Has the advantages that: the fixing seat is fixed on the front frame and is hinged with the traction rod through the two hinge lugs, so that the stability is good, and the rear frame can be more conveniently mounted during dismounting.
Further, the measuring arm is a folding arm and comprises a first folding rod and a second folding rod, the first folding rod and the second folding rod are hinged, the first folding rod and the second folding rod have a folding state and an unfolding state, a limiting structure is arranged at the hinged position of the first folding rod and the second folding rod and used for limiting the maximum opening angle of the first folding rod and the second folding rod when the first folding rod and the second folding rod are in the unfolding state, and when the measuring arm and the second frame are tightly supported under the action of the elastic part, the first folding rod and the second folding rod keep the maximum opening angle.
Has the advantages that: can make first folding rod and second folding rod be in fold condition when dismantling two frames through folding arm, provide great space, the operation of being convenient for.
Further, when the first folding rod and the second folding rod are in the folding state, the measuring arm is separated from the second frame. The measuring arm is not contacted with the second frame, so that the two frames can be further conveniently separated.
Drawings
Fig. 1 is a front view of an embodiment 1 of the steering angle measuring apparatus of the invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1 (with portions of the structure not shown);
FIG. 3 is a schematic view showing an initial state of the steering angle measuring apparatus in the embodiment 1 of the steering angle measuring apparatus of the invention;
fig. 4 is a schematic view showing an operating state of the steering angle measuring apparatus according to embodiment 1 of the steering angle measuring apparatus of the present invention;
FIG. 5 is a schematic view showing another operating state of the steering angle measuring apparatus according to embodiment 1 of the present invention;
fig. 6 is a view showing a state before the first folding bar and the second folding bar are assembled in the embodiment 1 of the steering angle measuring apparatus of the invention;
FIG. 7 is a top view of FIG. 6;
FIG. 8 is a cross-sectional view B-B of FIG. 6;
FIG. 9 is a cross-sectional view of C-C of FIG. 6;
in the figure: 1-a fixed seat; 11-fixing the ear; 12-a hinge ear; 13-a hinge hole; 2-a measuring arm; 21-a swing shaft; 22-a first folding bar; 221-folding bar hinge ears; 222-hinge ear projection; 223-hinge ear hole; 23-a second folding bar; 231-a hinge sleeve; 232-hinge sleeve projection; 233-inner hole; 3-a pin shaft; 4-a draw bar; 41-drawbar connection hole; 5-a rotation angle sensor; 6-torsion spring; 7-a roller; 8-information processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Specific embodiment 1 of the steering angle measuring apparatus of the present invention:
as shown in fig. 1 and 2, the steering angle measuring device of the present invention is used to connect a first frame and a second frame, which are hinged and detachable by the steering angle measuring device. In this embodiment, the first frame is preceding frame, and the second frame is the rear truck frame, and the steering angle measuring device includes fixing base 1 and measurement arm 2 of swing assembly on fixing base 1, and fixing base 1 is fixed on preceding frame through two fixed ears 11 of fixed preceding frame, and fixing base 1 is fixed on preceding frame through two fixed ears 11. The fixing seat 1 further comprises two hinge lugs 12 hinged with the rear frame, the two hinge lugs 12 are arranged at intervals from top to bottom, hinge holes 13 for the pin shafts 3 to penetrate through are formed in the two hinge lugs 12, the traction rod 4 of the rear frame is inserted between the two hinge lugs 12, and the pin shafts 3 penetrate through the hinge holes 13 in the hinge lugs 12 and the traction rod connecting holes 41 in the traction rod 4, so that the front frame is hinged with the rear frame. The two hinge lugs form a detachable hinge structure hinged with the second frame.
In order to obtain the steering angle between the front frame and the rear frame, the measuring arm 2 abuts against a traction rod 4 of the rear frame, a corner sensor 5 for measuring the swing angle of the measuring arm 2 is further arranged on the fixed seat 1, the corner change of the measuring arm 2 can be measured through the corner sensor 5, and then the steering angle between the front frame and the rear frame can be obtained through geometric calculation.
In order to guarantee that the measuring arm 2 and the rear frame are always abutted tightly, the fixing base 1 is provided with the torsion spring 6, the torsion spring 6 is sleeved on the swinging shaft 21 of the measuring arm 2, two ends of the torsion spring 6 are respectively fixed on the measuring arm 2 and the fixing base 1, and the measuring arm 2 can swing under the action of the torsion spring 6 to adapt to the change of the steering angle along with the change of the steering angle of the front frame and the rear frame. The torsion spring 6 forms an elastic member which is arranged on the fixed seat 1 and is used for applying elastic force to the measuring arm 2 so as to enable the measuring arm 2 to be tightly abutted against the second frame.
In this embodiment, in order to further facilitate the installation of the front frame and the rear frame, the measuring arm 2 is a folding arm, and includes a first folding rod 22 and a second folding rod 23, and the first folding rod 22 and the second folding rod 23 are hinged and the hinge axis extends up and down.
As shown in fig. 6 to 9, in this embodiment, two folding rod hinge ears 221 are disposed on the first folding rod 22, hinge holes are disposed on both the two folding rod hinge ears 221, a hinge sleeve 231 inserted between the two folding rod hinge ears 221 is disposed on the second folding rod 23, an inner hole 233 of the hinge sleeve 231 is disposed opposite to the hinge ear hole 223, and a hinge shaft connecting the two folding rods passes through the hinge sleeve 231 and the folding rod hinge ear 221, so as to realize the hinge connection between the first folding rod 22 and the second folding rod 23. The first folding rod 22 and the second folding rod 23 have a folded state and an unfolded state, and a limiting structure is disposed at a hinge joint of the first folding rod 22 and the second folding rod 23, and is used for limiting a maximum opening angle of the first folding rod 22 and the second folding rod 23 in the unfolded state, where the maximum opening angle is 160 degrees in this embodiment. The limiting structure comprises a hinge lug boss 222 arranged on the hinge lug 221 of the folding rod and a hinge sleeve boss 232 arranged on the hinge sleeve 231, when the first folding rod 22 and the second folding rod 23 reach the maximum opening angle, the hinge lug boss 222 and the hinge sleeve boss 232 are in blocking fit with each other, and the opening angles of the first folding rod 22 and the second folding rod 23 are limited to be increased continuously.
When first folding rod 22 and second folding rod 23 are in folded state, measuring arm 2 and second frame separate, can make first folding rod and second folding rod be in folded state when dismantling two frames through folding arm, provide great space, the operation of being convenient for.
When the measuring arm 2 and the rear frame are tightly abutted under the action of the torsion spring 6, the first folding rod 22 and the second folding rod 23 keep the maximum opening angle, the first folding rod 22 is assembled on the fixed seat 1 in a swinging mode, and the second folding rod 23 is tightly abutted with the rear frame.
In order to reduce the friction between the second folding rod 23 and the traction rod 4, in this embodiment, the end of the second folding rod 23 away from the first folding rod 22 is provided with a roller 7, and when the steering angle of the front frame and the rear frame changes, the roller 7 rolls on the traction rod 4, so that the second folding rod 23 moves relative to the traction rod 4. The rollers constitute rolling members, and in other embodiments, the rolling members may also be balls.
The information processing unit 8 of the trailer is also fixed on the fixed seat, and the information processing unit 8 receives the information of the corner sensor 5 and calculates the steering angle between the front frame and the rear frame according to the received information. The specific calculation method is as follows:
as shown in fig. 3 to 5, a symmetry plane passing through the hinge axis on the drawbar 4 is a symmetry plane of the drawbar, a distance between the contact position of the measuring arm on the drawbar 4 and the symmetry plane of the drawbar is an equivalent symmetric distance r, the equivalent symmetric distance of the drawbar may be different for different vehicle types, and a swing center O between the drawbar 4 and the hinge lug 12 is established at the hinge end of the drawbar3And taking r as an equivalent circle with variable diameter as a circle center. The equivalent length of the measuring arm 2 is R, and when the initial steering angle is 0, the included angle between the first folding rod 22 of the measuring arm 2 and the axial lines of the two hinge holes 13 is alpha0The real-time included angle between the first folding rod 22 of the measuring arm 2 and the axes of the two hinge holes 13 is alpha, and the real-time included angle is measured by a rotation angle sensor. Alpha is alpha0By setting upAnd calculating an initial value of the equivalent symmetrical distance r.
The connecting point of the measuring arm 2 and the fixed seat 1 is O, and the contact point of the roller 7 and the traction rod 4 is O1The equivalent tangent point of one side surface of the draw bar 4 and the equivalent circle is O2The steering angle is beta, the distance between the connecting point O and the symmetric plane of the traction rod is L/2 when the connecting point O and the traction rod do not deflect, namely OO3Is L/2, the distance from the fixed seat 1 to the center of the hinge hole 13 of the hinge lug 12 is h, and as shown in FIG. 4, the size of the steering angle is O1O2Is connected with the perpendicular bisector XO in the figure3The calculation formula of the included angle is as follows:
in the formula (1), the angles α and α1The angle difference between them is a fixed value alpha3。α3A first folding bar and OO being traction bars1The included angle of (2) can be calculated by the length of the first folding rod and the length of the second folding rod.
As shown in fig. 5, the calculation formula is as follows:
when the steering angle measuring device is used, the rotating angle alpha of the measuring arm can be measured through the rotating angle sensor, and alpha is calculated according to the rotating angle alpha1And then β is calculated. In the embodiment, only a rough algorithm of the steering angle is given, and if the steering angle is required to be more accurate, the sizes of the traction rod and each part of the steering angle measuring device can be accurately calculated to obtain the accurate steering angle.
A specific embodiment 2 of the steering angle measuring apparatus of the present invention, the steering angle measuring apparatus in this embodiment is different from the above-described embodiments only in that: in this embodiment, the elastic member may be a spring, and one end of the spring is connected to the measuring arm, and the other end of the spring is connected to the fixing base.
A specific embodiment 3 of the steering angle measuring apparatus of the present invention, the steering angle measuring apparatus in this embodiment is different from the above-described embodiments only in that: in this embodiment, the measuring arm is not folding arm, and the measuring arm is formed by the knee, when dismantling the back frame, can swing the measuring arm and make the measuring arm give way the space. In other embodiments the measuring arm may also be a straight rod.
A specific embodiment 4 of the steering angle measuring apparatus of the present invention, the steering angle measuring apparatus in this embodiment is different from the above-described embodiments only in that: in this embodiment, the measuring arm is in sliding contact with the drawbar of the rear frame.
A specific embodiment 5 of the steering angle measuring apparatus of the present invention, the steering angle measuring apparatus in this embodiment is different from the above-described embodiments only in that: in this embodiment, the hinge structure is a drawbar, and the fixing seat is fixed to the rear frame, the first frame is a rear frame, and the second frame is a front frame.
In a specific embodiment of the trailer according to the present invention, the trailer includes a first frame and a second frame hinged to each other, and a steering angle measuring device connected between the first frame and the second frame, and the steering angle measuring device is the steering angle measuring device described in any one of the above embodiments of the steering angle measuring device, and is not described again. The trailer also comprises an information processing unit fixed on a fixed seat of the steering angle measuring device, and the information processing unit is connected with a corner sensor of the steering angle measuring device to receive the measuring information of the corner sensor. In other embodiments, the holder of the steering angle measuring device may also be formed by a part of the first frame.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.
Claims (8)
1. A steering angle measuring device, characterized by comprising:
the fixing seat is used for being fixed on the first frame and is provided with a detachable hinge structure which is hinged with the second frame, and a hinge axis of the hinge structure extends up and down;
the measuring arm is arranged on the fixed seat in a swinging mode, the swinging axis extends up and down, and the measuring arm is used for abutting against the second frame so as to swing relative to the first frame when the first frame and the second frame are steered relatively;
a rotation angle sensor for measuring a change in rotation angle of the measuring arm;
and the elastic piece is arranged on the fixed seat and used for applying elastic force to the measuring arm to enable the measuring arm to be tightly abutted against the second frame.
2. The steering angle measuring device according to claim 1, wherein the measuring arm is provided with a rolling member, and the measuring arm is pressed against the second frame via the rolling member.
3. The steering angle measuring device according to claim 1 or 2, wherein the elastic member is a torsion spring.
4. The steering angle measuring device according to claim 1 or 2, wherein the first frame is a front frame, the second frame is a rear frame, the hinge structure is two hinge lugs arranged at intervals, hinge holes for the pin shaft to pass through are formed in the two hinge lugs, the interval between the two hinge lugs is used for the drawbar on the second frame to insert, and the measuring arm is used for abutting against the drawbar on the second frame.
5. The steering angle measuring device according to claim 1 or 2, wherein the measuring arm is a folding arm, and includes a first folding rod and a second folding rod, the first folding rod and the second folding rod are hinged and the hinge axes of the first folding rod and the second folding rod extend up and down, the first folding rod and the second folding rod have a folded state and an unfolded state, a limiting structure is provided at the hinge joint of the first folding rod and the second folding rod, the limiting structure is used for limiting the maximum opening angle of the first folding rod and the second folding rod in the unfolded state, and the measuring arm and the second frame are abutted under the action of the elastic member so that the first folding rod and the second folding rod maintain the maximum opening angle.
6. A trailer comprising a first frame and a second frame hinged to each other, characterized in that,
the trailer also comprises a steering angle measuring device and an information processing unit, wherein the steering angle measuring device is the rotating angle measuring device of any one of claims 1-4;
the information processing unit is connected with a corner sensor of the steering angle measuring device to receive the measuring information of the corner sensor.
7. The trailer according to claim 6, wherein the measuring arm is a folding arm, and comprises a first folding rod and a second folding rod, the first folding rod and the second folding rod are hinged, the first folding rod and the second folding rod have a folded state and an unfolded state, a limiting structure is arranged at the hinged position of the first folding rod and the second folding rod, the limiting structure is used for limiting the maximum opening angle of the first folding rod and the second folding rod in the unfolded state, and the first folding rod and the second folding rod keep the maximum opening angle when the measuring arm and the second frame are tightly abutted under the action of the elastic member.
8. The trailer of claim 7, wherein the measurement arm is detached from the second frame when the first folding bar and the second folding bar are in the folded state.
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| CN202010864883.6A CN114104105A (en) | 2020-08-25 | 2020-08-25 | Steering angle measuring device and trailer |
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| CN202010864883.6A CN114104105A (en) | 2020-08-25 | 2020-08-25 | Steering angle measuring device and trailer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114707103A (en) * | 2022-06-06 | 2022-07-05 | 民航成都物流技术有限公司 | Multi-trailer driving track calculation method based on single perception data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114707103A (en) * | 2022-06-06 | 2022-07-05 | 民航成都物流技术有限公司 | Multi-trailer driving track calculation method based on single perception data |
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