CN114834528B - Angle measuring device and semi-trailer type transport vehicle - Google Patents
Angle measuring device and semi-trailer type transport vehicle Download PDFInfo
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- CN114834528B CN114834528B CN202210480520.1A CN202210480520A CN114834528B CN 114834528 B CN114834528 B CN 114834528B CN 202210480520 A CN202210480520 A CN 202210480520A CN 114834528 B CN114834528 B CN 114834528B
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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
- B62D15/023—Determination of steering angle by measuring on the king pin
Abstract
The application relates to the technical field of intelligent driving, and discloses an angle measuring device and a semi-trailer type transport vehicle, wherein the angle measuring device is arranged on the semi-trailer type transport vehicle, the semi-trailer type transport vehicle comprises a tractor and a semi-trailer, the lap joint part of the semi-trailer is rotationally connected with the tractor through a traction pin, and the traction pin is fixed on the lap joint part; the angle measuring device comprises a mounting bracket, a measuring wheel and an angle sensor, wherein the mounting bracket is fixed on the tractor and is positioned on the periphery of the traction pin; the measuring wheel is rotatably arranged on the mounting bracket, the axis of the measuring wheel is coplanar with the axis of the traction pin, the peripheral surface of the measuring wheel is in contact with the bottom surface of the overlapping part, and the overlapping part drives the measuring wheel to rotate under the condition that the semitrailer rotates relative to the tractor; the angle sensor is used for detecting the rotation angle of the measuring wheel, so that the rotation angle of the tractor relative to the semitrailer is obtained. The angle measuring device does not influence normal unloading and hanging between the semitrailer and the tractor, does not influence the strength of the towing pin, and improves the safety of the semitrailer.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to an angle measuring device and a semi-trailer type transport vehicle.
Background
For the intelligent driving of the existing semi-trailer vehicle, particularly under the condition that the trailer posture needs to be controlled during backing, steering and the like, the relative angle between the semi-trailer and the tractor needs to be monitored in real time. In the prior art, the relative angular surveying between semi-trailer and tractor is usually adopted to the sensor to generally be through installing the sensor on the semitrailer, be connected with the towing pin, be connected with certain influence between semi-trailer and tractor, punch on the towing pin even and carry out the sensor installation, this can cause the influence to the intensity of towing pin, when the vehicle goes, can arouse the towing pin because the vibration and fracture, lead to the risk that semitrailer and tractor separate.
Content of application
The application discloses angle measuring device and semi-trailer transport vechicle, this angle measuring device install on the tractor, only with semitrailer contact connection, do not influence the normal installation between semitrailer and the tractor, unload and hang, do not influence towing pin intensity, can effectively reduce the towing pin because measure and lead to cracked risk, improved semi-trailer transport vechicle's security.
On the first hand, the application provides an angle measuring device which is used for being arranged on a semi-trailer type transport vehicle, wherein the semi-trailer type transport vehicle comprises a tractor and a semi-trailer, the lap joint part of the semi-trailer is rotationally connected with the bearing part of the tractor through a traction pin, and the traction pin is fixedly arranged on the lap joint part of the semi-trailer; the angle measuring device includes: the device comprises a mounting bracket, a measuring wheel and an angle sensor, wherein the mounting bracket is used for being mounted on a bearing part and fixed with the bearing part, and the mounting bracket is positioned on the peripheral side of a traction pin; the measuring wheel is arranged on the mounting bracket and is rotationally connected with the mounting bracket, the axial lead of the measuring wheel is coplanar with the axial lead of the traction pin, the peripheral surface of the measuring wheel is contacted with the bottom surface of the lap joint part, and the lap joint part drives the measuring wheel to rotate under the condition that the semitrailer rotates relative to the tractor; the angle sensor is used for detecting the rotation angle of the measuring wheel, so that the rotation angle of the tractor relative to the semitrailer can be obtained. Above-mentioned angle measuring device installs on the tractor, only with semi-trailer contact connection, does not influence the normal installation between semi-trailer and the tractor, unload hanging, does not influence towing pin intensity, can effectively reduce the towing pin because the measurement leads to cracked risk, has improved the security of semi-trailer transport vechicle.
In an optional technical scheme, the measuring wheel is of a circular truncated cone structure, the diameter of the top surface of the measuring wheel is smaller than that of the bottom surface of the measuring wheel, the top surface of the measuring wheel faces the traction pin, and the part, facing the overlapping portion, of the outer peripheral surface of the measuring wheel is parallel to the bottom surface of the overlapping portion. The peripheral surface of the measuring wheel is matched with the linear speed of the contact part of the semitrailer, so that the slippage is reduced, and the measuring precision is improved.
In an alternative solution, the dimension of the measuring wheel and the distance between the measuring wheel and the axis of the kingpin satisfy the following formula:
wherein R is 1 To measure the radius of the top surface of the wheel, R 2 For measuring wheelsRadius of the bottom surface, L 1 In the case that the measuring wheel is in contact with the lap part, the vertical distance L from the contact point of the top surface of the measuring wheel and the lap part to the axis of the traction pin 2 The vertical distance from the contact point of the bottom surface of the measuring wheel and the lap part to the axis of the towing pin is measured when the measuring wheel is in contact with the lap part. The linear velocities of different positions of the peripheral surface of the measuring wheel are matched with the linear velocity of the bottom contact position of the trailer, so that the measuring wheel does not slip when contacting with the semitrailer, and the angle measuring device is favorable for improving the measuring precision.
In an optional technical scheme, the mounting bracket comprises a bracket seat, a supporting component and a measuring bracket; the bracket base is provided with an installation groove, and the axial lead of the installation groove is approximately parallel to the axial lead of the traction pin; the supporting component comprises a supporting rod and an elastic supporting piece, one end of the supporting rod extends into the mounting groove, the supporting rod is connected with the mounting groove in a sliding mode, and the supporting rod is used for supporting the measuring support; the elastic support piece is arranged in the mounting groove, is positioned between the support rod and the bottom of the mounting groove and is used for providing elastic support force for the support rod; the measuring support is arranged at the other end of the supporting rod, and the measuring wheel and the angle sensor are arranged on the measuring support. When the measuring wheel is contacted and offset with the bottom of the semitrailer, the elastic supporting part can provide upward elastic supporting force for the measuring wheel, so that the measuring wheel has good contact force with the bottom of the semitrailer, always keeps effective contact, is favorable for the angle measuring device to monitor the relative rotation angle between the semitrailer and the tractor in real time, and is favorable for improving the measurement precision.
In an optional technical scheme, the measuring support comprises a base, and a sensor mounting plate and a measuring wheel mounting plate which are positioned on one side of the base, which is far away from the support base, wherein the sensor mounting plate and the measuring wheel mounting plate are arranged at intervals; one side that the measuring wheel deviates from the towing pin is connected with the connecting axle, and the connecting axle sets up with the measuring wheel is coaxial, and the connecting axle is rotatably installed in the measuring wheel mounting panel, and angle sensor installs in the sensor mounting panel, and angle sensor and the coaxial setting of connecting axle to angle sensor is connected with the connecting axle. The measuring support overall structure is stable and reliable, can well bear the angle sensor and the measuring wheel, and ensures that the structural stability is good.
In an alternative solution, the connecting shaft is mounted to the measuring wheel mounting plate by a bearing. The friction force between the measuring wheel and the measuring wheel mounting plate is reduced, the rotation resistance of the measuring wheel is reduced, the slipping risk of the measuring wheel can be reduced, and the measuring precision is improved.
In an alternative solution, the support rod is mounted in the mounting groove through a linear bearing. The friction force between the supporting rod and the mounting groove is reduced, the supporting rod can slide up and down more smoothly, and the measuring wheel can be in better contact with the bottom of the semitrailer.
In an optional technical solution, the mounting bracket further includes a limiting mechanism, and the limiting mechanism is used for limiting a movement distance of the measuring bracket moving in a direction away from the bracket base. Effectively avoid measuring that the support upwards moves apart from the support seat for the measurement support can keep being connected with the support seat.
In an optional technical solution, the bracket holder includes a support portion and a connection portion fixed to the support portion, the mounting groove is disposed on the support portion, and the connection portion is used for connecting with the bearing portion; the limiting mechanism comprises a U-shaped support, the U-shaped support comprises two limiting columns arranged at intervals and a cross rod connected with one ends of the two limiting columns, the supporting part is positioned between the two limiting columns, the other ends of the two limiting columns are connected with the measuring support, and the supporting part is positioned between the cross rod and the measuring support. The U-shaped support is simple in structure, facilitates simplification of the whole structure, and can accurately limit the upward moving distance of the measuring support.
In an optional technical scheme, the outer peripheral surface of the measuring wheel is provided with a non-slip mat. The anti-slip pad can increase the frictional force between measuring wheel and the overlap joint portion, can reduce because the measuring wheel skids and leads to the inaccurate risk of monitoring data.
On the other hand, this application still provides a semi-mounted transport vechicle, and this semi-mounted transport vechicle includes: the angle measuring device comprises a tractor, a semi-trailer and any one of the angle measuring devices provided by the technical scheme, wherein a bearing part of the tractor is provided with a saddle, a lapping part of the semi-trailer is provided with a traction pin, and the semi-trailer is rotationally connected with the saddle through the traction pin; the angle measuring device is mounted on the saddle. The angle measuring device is arranged on the saddle, and the monitoring of the relative angle between the tractor and the semitrailer of the semitrailer carrier vehicle is realized.
Drawings
Fig. 1 is a schematic overall structural diagram of a semitrailer truck according to an embodiment of the present application;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a schematic cross-sectional view of a semi-trailer type transportation vehicle according to an embodiment of the present application;
fig. 4 is a schematic diagram of distribution of working positions of a measuring wheel in contact with a semitrailer according to an embodiment of the application;
fig. 5 is a schematic overall structure diagram of an angle measuring apparatus according to an embodiment of the present disclosure;
FIG. 6 is a schematic side view of an angle measuring device according to an embodiment of the present disclosure;
FIG. 7 is a schematic cross-sectional view of an angle measuring device according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a mounting bracket according to an embodiment of the present disclosure;
FIG. 9 is a schematic cross-sectional view of an angle measuring device according to an embodiment of the present disclosure;
FIG. 10 is a schematic view of a stent holder according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a connection between a measurement bracket and a limiting mechanism according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a connection between a measurement bracket and a limiting mechanism according to an embodiment of the present disclosure;
an icon: 1-a tractor; 2-semi-trailer; 3-a towing pin; 4-an angle measuring device; 5-a saddle; 11-a carrier; 21-a lap joint; 41-mounting a bracket; 42-a measuring wheel; 43-angle sensor; 44-a housing; 411-a stent holder; 412-a support assembly; 413-a measurement holder; 414-a limiting mechanism; 415-a bearing; 4111-a support; 4112-a connecting portion; 4121-a support bar; 4122-a resilient support; 4123-linear bearings; 4131-a base; 4132-sensor mounting plate; 4133-measuring wheel mounting plate; 4141-limit column; 4142-a cross-bar; 4112 a-a snap-fit structure; 4112 b-positioning post.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus, a repetitive description thereof will be omitted. The words used in this application to describe positions and orientations are provided by way of example in the drawings and can be changed as desired and are intended to be encompassed by the present application. The drawings of the present application are for illustrative purposes only and do not represent true scale.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import to those skilled in the art without departing from the spirit and scope of this application. The present application is therefore not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Referring to fig. 1 and 3, as shown in fig. 7 and 8, an embodiment of the present application provides an angle measuring device, the angle measuring device 4 is applied to a semi-trailer type transport vehicle, the angle measuring device 4 can be mounted on the semi-trailer type transport vehicle, wherein for convenience of description, a normal placement position of the semi-trailer type transport vehicle is taken as a reference, wherein an extending direction of an axis of a towing pin is taken as a vertical direction, and a plane perpendicular to the axis of the towing pin is taken as a horizontal direction. As shown in fig. 1 and 3, the semitrailer truck includes a tractor 1 and a semitrailer 2, the tractor 1 includes a head and a bearing portion 11 for connecting with the semitrailer, the semitrailer 2 includes a carriage and a lapping portion 21 for lapping on the trailer and connecting with the trailer, the lapping portion 21 of the semitrailer 2 is rotatably connected with the bearing portion 11 of the tractor 1 through a towing pin 3, the towing pin 3 is fixedly installed on the lapping portion 21 of the semitrailer 2, wherein the angle measuring device provided by the embodiment of the present application includes a mounting bracket 41, a measuring wheel 42 and an angle sensor 43, specifically, the mounting bracket 41 is used for being installed on the bearing portion 11, and the mounting bracket 41 is located at a position around the towing pin 3; the measuring wheel 42 is mounted on the mounting bracket 41, the mounting bracket 41 supports the measuring wheel 42, the measuring wheel 42 is rotatably connected with the mounting bracket 41, the measuring wheel 42 can rotate around the axis of the measuring wheel 42, in addition, the axis of the measuring wheel 42 and the axis of the traction pin 3 are positioned in the same plane, the outer peripheral surface of the measuring wheel 42 can be in contact with the bottom surface of the overlapping part 21, and the overlapping part 21 drives the measuring wheel 42 to rotate under the condition that the semitrailer 2 rotates relative to the tractor 1; the angle sensor 43 is used to detect the rotation angle of the measuring wheel 42.
In the above embodiment, towing pin 3 and semitrailer 2 are static relatively, towing pin 3 and tractor 1 relative rotation, use the axial lead B (as shown in fig. 3) of towing pin 3 as the rotation axis, tractor 1 takes place relative rotation with semitrailer 2, measuring wheel 42 is connected with the bottom side contact of the overlap joint portion 21 of semitrailer 2, semitrailer 2 can drive measuring wheel 42 and rotate, when semitrailer turns, tractor 1 and semitrailer 2 form certain angle, measuring wheel 42 also can corresponding certain angle of rotation under the drive of semitrailer 2, the turned angle of tractor 1 relative semitrailer 2 can be obtained through monitoring measuring wheel 42's turned angle. Therefore, when the semitrailer is turning, the angle sensor 43 detects the rotation angle of the measuring wheel 42, thereby deriving the relative rotation angle between the tractor 1 and the semitrailer 2. The measuring wheel 42 of the angle measuring device can be kept in contact connection with the semitrailer 2, the rotating angle of the semitrailer 2 relative to the tractor 1 can be obtained in real time, backing up in intelligent driving as control, parameters of actions such as turning and the like, the angle measuring device 4 is installed on the tractor 1 and is only in contact connection with the semitrailer 2, no fixed connection relation exists between the semitrailer 2 and the tractor 1, normal installation between the semitrailer 2 and the tractor 1 can be unaffected, unloading and hanging are achieved, any change of the traction pin 3 is not needed, only the bottom of the semitrailer 2 is contacted, the rotating angle of the semitrailer 2 relative to the tractor 1 is converted into the rotating angle of the measuring wheel 42, the rotating angle between the semitrailer 2 and the tractor 1 can be measured, any influence on the traction pin 3 can be avoided, any adverse effect on the strength of the traction pin 3 can be avoided, the connection function of the traction pin 3 is unaffected, the risk of fracture caused by measurement is effectively reduced, and the safety of the semitrailer is improved.
The relative rotation angle between the tractor 1 and the semitrailer 2 is an important parameter in intelligent driving, and the operation posture of the semitrailer can be obtained by monitoring the parameter. The angle of rotation of the measuring wheel 42 can be used to determine the relative angle of rotation of the tractor 1 and the semitrailer 2. The vertical distance between the middle position of the contact part of the measuring wheel 42 and the bottom of the semitrailer 2 and the towing pin 3 is L, and the angular speed of the towing pin 3 rotating relative to the tractor 1 is omega 1 The rotation angle of the towing pin 3 relative to the towing vehicle 1 is theta 1 The radius from the middle point of the contact part of the measuring wheel 42 and the bottom of the semitrailer 2 to the axis of the measuring wheel 42 is R, and the rotating angular speed of the measuring wheel 42 is omega 2 The rotation angle of the measuring wheel 42 is theta 2 The linear speed of the contact part of the measuring wheel 42 and the semitrailer 2 is the same, so that:
ω 1 ×L＝ω 2 ×R；
then:
from the above, the relative rotation angle between the tractor 1 and the semitrailer 2 can be obtained from the rotation angle of the measuring wheel 42.
Because the measuring wheel 42 has a certain thickness, it is not a true line contact when contacting with the bottom of the semitrailer 2, in order to further improve the measurement accuracy of the angle measuring device 4, and alleviate the problem of slip between the measuring wheel 42 and the semitrailer 2 caused by different linear velocities of the contact portions, in a possible implementation manner, the thickness of the measuring wheel 42 can be set to be smaller, so that the thickness of the measuring wheel 42 is far smaller than the distance between the measuring wheel 42 and the axial lead of the traction pin 3, the linear velocity difference between the measuring wheel 42 and the contact portions of the semitrailer 2 is reduced, the slip degree is reduced, and further the measurement accuracy is improved.
Referring to fig. 3, 5 and 6, in order to further improve the measurement accuracy of the angle measuring device 4, in another possible embodiment, the measuring wheel 42 may be a measuring wheel with a circular truncated cone structure, so that the linear velocities of the outer circumferential surfaces of the measuring wheel 42 are different to match the linear velocities at different positions in contact with the bottom of the semitrailer, specifically, the measuring wheel 42 is provided with a circular truncated cone structure, the diameter of the top surface of the measuring wheel 42 is smaller than that of the bottom surface of the measuring wheel 42, the top surface of the measuring wheel 42 faces the towing pin 3, and the portion of the outer circumferential surface of the measuring wheel 42 facing the overlapping part 21 is parallel to the bottom surface of the overlapping part 21. The relatively less top surface linear velocity of diameter is less than the relatively great bottom surface of measuring wheel diameter in the measuring wheel 42, and the top surface of measuring wheel 42 is closer to towing pin 3 than the bottom surface, and to the rotation of semitrailer, the linear velocity of top surface and the department of semitrailer 2 contact also can be less than the linear velocity of bottom surface and the department of semitrailer 2 contact, can make the linear velocity of measuring wheel 42 outer peripheral face and the department of semitrailer 2 contact more match, reduces to skid, and then improves measurement accuracy.
With continuing reference to fig. 4, and fig. 4 is a schematic diagram of the distribution of the working positions of the contact between the measuring wheel and the semitrailer according to the embodiment of the present application, which can also be regarded as a schematic diagram of the rotation of the semitrailer driving measuring wheel, wherein the shaft axis C of the measuring wheel 42 and the shaft axis B of the towing pin 3 are as shown in fig. 4, and specifically, the size of the measuring wheel 42 and the distance between the shaft axes of the measuring wheel 42 and the towing pin 3 are set to satisfy the following formula:
wherein R is 1 To measure the radius of the top surface of the wheel 42, R 2 To measureRadius of bottom surface of the measuring wheel 42, L 1 In order to measure the vertical distance L from the contact point of the top surface of the wheel 42 and the lap portion 21 to the axial line of the towing pin 3 in the case where the wheel 42 is in contact with the lap portion 21 2 The vertical distance from the contact point of the bottom surface of the measuring wheel 42 and the overlapping part 21 to the axis of the kingpin 3 is measured when the measuring wheel 42 is in contact with the overlapping part 21.
For the measuring wheel 42, the linear velocity V of the top surface of the measuring wheel 42 is measured 1 ＝R 1 ×ω 2 Measuring the linear velocity V of the bottom surface of the wheel 42 2 ＝R 2 ×ω 2 。
For the semitrailer 2, the linear velocity V at the contact point of the semitrailer 2 and the top surface of the measuring wheel 42 3 ＝L 1 ×ω 1 Linear velocity V at the bottom contact of the semitrailer 2 with the measuring wheel 42 4 ＝L 2 ×ω 1 。
Due to the arrangement of
It can be derived that:
because the measuring wheel 42 is in contact with the semitrailer 2, the semitrailer 2 drives the measuring wheel 42 to rotate, namely V 1 ＝V 3 Therefore, V 2 ＝V 4 Therefore, the linear velocity of the peripheral surface of the measuring wheel 42 at different positions can be completely matched with the linear velocity of the contact position at the bottom of the trailer by the size setting of the measuring wheel 42, so that the measuring wheel 42 does not slip when contacting with the semitrailer 2, and the measuring precision of the angle measuring device is effectively improved.
In order to further reduce the slip between the measuring wheel 42 and the semitrailer 2, in a practical implementation, anti-slip pads (not shown) may be provided on the outer circumferential surface of the measuring wheel 42. The non-slip mat is mounted on the outer wall of the measuring wheel 42. The anti-slip pad increases the friction between the measuring wheel 42 and the overlapping part 21, and can reduce the risk of inaccurate monitoring data caused by the slipping of the measuring wheel 42.
When specifically selecting the material of above-mentioned slipmat, can adopt flexible material such as rubber or silica gel, this application embodiment does not do specific limitation. The flexible material can not only prevent skidding, but also play a role in buffering, can reduce the mutual impact force caused by vibration generated by the running of the vehicle between the measuring wheel 42 and the lap joint part 21, and can also reduce the abrasion degree of the measuring wheel 42.
When the non-slip mat is specifically prepared, the outer wall of the non-slip mat can be provided with anti-slip protrusions, which is beneficial to further increasing the friction force of the measuring wheel 42 and the lap joint part 21. When the anti-slip protrusions are specifically prepared, the anti-slip protrusions can be arranged in a shape of a strip, a particle, a wavy line and the like, and the embodiment of the application is not particularly limited.
On the other hand, as for the arrangement of the mounting bracket, in a practical manner, referring to fig. 7 and 8, the mounting bracket 41 includes a bracket seat 411, a supporting component 412 and a measuring bracket 413; the bracket seat 411 is provided with a mounting groove, the axis of the mounting groove is approximately parallel to the axis of the traction pin 3, the mounting groove is a cylindrical groove, and the axis of the mounting groove can be arranged along the vertical direction; the supporting assembly 412 comprises a supporting rod 4121 and an elastic supporting member 4122, one end of the supporting rod 4121 extends into the mounting groove, the supporting rod 4121 is slidably connected with the mounting groove, the supporting rod 4121 can move up and down along the vertical direction, and the supporting rod 4121 is used for supporting the measuring bracket 413; the elastic supporting member 4122 is installed in the installation groove, and the elastic supporting member 4122 is located at the bottom of the installation groove such that the elastic supporting member 4122 is disposed between the supporting bar 4121 and the bottom of the installation groove, and the elastic supporting member 4122 can provide an elastic supporting force to the supporting bar 4121; the measuring bracket 413 is installed at the other end of the supporting rod 4121, and the measuring wheel 42 and the angle sensor 43 are installed on the measuring bracket 413. Wherein, the supporting component can set up one or two, or can set up three too, can the stable support measure the support just can, in every supporting component, one end of bracing piece 4121 is supported by elastic support 4122 elasticity, the other end is supporting and is measuring the support 413, measuring wheel 42 is installed on measuring the support 413, elastic support 4122 can provide the elastic support of vertical direction for measuring wheel 42, when measuring wheel 42 and semitrailer 2 bottom contact counterbalance, elastic support 4122 can provide ascending elastic support power for measuring wheel 42, make measuring wheel 42 and semitrailer 2 bottom have good contact force, keep effective contact all the time, help angle measuring device 4 to monitor the relative rotation angle between semitrailer 2 and tractor 1 in real time, and be favorable to improving measurement accuracy.
In specific implementation, the elastic supporting element 4122 may be a spring, which has a simple structure and a good elastic supporting property.
With continued reference to fig. 8 and 10, in an alternative embodiment, the measurement bracket 413 may include a base 4131, and a sensor mounting plate 4132 and a measurement wheel mounting plate 4133 located on a side of the base 4131 facing away from the bracket holder 411, the sensor mounting plate 4132 being spaced apart from the measurement wheel mounting plate 4133, and the sensor mounting plate 4132 and the measurement wheel mounting plate 4133 being located side-by-side; measuring wheel 42 is connected with the connecting axle in the one side that deviates from towing pin 3, and the connecting axle sets up with measuring wheel 42 is coaxial, and the connecting axle is installed on measuring wheel mounting panel 4133, and the connecting axle rotates with measuring wheel mounting panel 4133 to be connected, and angle sensor 43 installs in sensor mounting panel 4132, and angle sensor 43 sets up with the connecting axle is coaxial, and the connecting axle can run through measuring wheel mounting panel 4133, and the free end and the angle sensor 43 of connecting axle are connected. The measuring support 413 is simple in overall structure, stable and reliable, and can well bear the angle sensor 43 and the measuring wheel 42, so that the structural stability is guaranteed.
Further, as shown in fig. 8 and 9, the above-described connecting shaft may be mounted to the measuring wheel mounting plate 4133 through a bearing 415. The bearing 415 can greatly reduce the friction between the measuring wheel 42 and the measuring wheel mounting plate 4133, reduce the rotation resistance of the measuring wheel 42, reduce the risk of slipping of the measuring wheel 42, and further improve the measuring accuracy.
With continued reference to fig. 9, the support rod 4121 may be mounted in the mounting groove via a linear bearing 4123, so as to reduce the friction between the support rod 4121 and the mounting groove, so that the support rod 4121 slides up and down more smoothly, and the measuring wheel 42 can be in better contact with the bottom of the semitrailer 2.
In addition, in an alternative embodiment, referring to fig. 7 and 8, the mounting bracket 41 further comprises a limiting mechanism 414, and the limiting mechanism 414 is used for limiting the moving distance of the measuring bracket 413 moving towards the direction away from the bracket seat 411. The measurement supporter 413 is prevented from being separated from the supporter seat by an excessively large upward movement distance, so that the measurement supporter 413 can be kept connected to the supporter seat 411.
In addition, referring to fig. 5 to 7, in order to protect and prevent dust for the angle sensor 43 and the components such as the support assembly 412, a housing 44 is disposed outside the angle sensor 43, the housing 44 is connected to the mounting bracket 41, and the housing 44 may be specifically connected to the side surface of the support portion 4111 by a screw or may be fixedly connected by a snap, which is not limited in this embodiment.
With continued reference to fig. 8 and fig. 11 and 12, the bracket base 411 may include a supporting portion 4111 and a connecting portion 4112 fixed to the supporting portion 4111, the mounting groove is disposed on the supporting portion 4111, and the connecting portion 4112 is used for connecting with the supporting portion 11; the limiting mechanism 414 may include a "U" shaped bracket, the "U" shaped bracket includes two limiting posts 4141 arranged at an interval and a cross bar 4142 connecting one ends of the two limiting posts 4141, the supporting portion 4111 is located between the two limiting posts 4141, the other ends of the two limiting posts 4141 are connected to the measuring bracket 413, and the supporting portion 4111 is located between the cross bar 4142 and the measuring bracket 413. Specifically, one end of each of the two positioning columns 4141 facing each other may be directly and fixedly connected to the bottom of the base 4131, or, as shown in fig. 8, the measuring wheel mounting plate 4133 may correspond to the supporting portion 4111, a portion of the measuring wheel mounting plate 4133 is opposite to one positioning column 4141, the positioning column 4141 may directly abut against and be fixedly connected to the bottom of the base 4131, the gap between the measuring wheel mounting plate 4133 and the sensor holder 4132 is opposite to the other positioning column 4141, and the top end of the positioning column 4141 may penetrate through the base 4131 and the top end of the positioning column may be fixed by a nut. When measuring support 413 downstream, base 4131 can directly offset with supporting part 4111, and the top surface of supporting part 4111 just can restrict measuring support 413 and continue downstream, and the downward migration distance of support is measured in the restriction, and when measuring support 413 upward movement, remove certain distance after, horizontal pole 4142 that two spacing posts 4141 bottom are connected collides with the bottom of supporting part 4111 and is hindered, and then the restriction measures the distance that support 413 moved upward. The U-shaped support is simple in structure, facilitates simplification of the whole structure, and can accurately limit the upward movement distance of the measuring support 413.
Further, with reference to fig. 7 and fig. 8, the connecting portion 4112 may include a fastening structure 4112a for fixedly connecting with the supporting portion 11, wherein the supporting portion 11 is provided with a saddle 5, the saddle 5 is provided with a fastening groove, and the connecting portion 4112 is fixed to the saddle by fastening, which is simple and reliable, however, the connecting portion 4112 may also be fixed to the saddle 5 by a bolt, or connected to the saddle 5 by welding, or other fixing methods, which is not limited in this embodiment. And, for the connection location accuracy, can also set up reference column 4112b in one side that connecting portion 4112 deviates from supporting portion 4111, set up locating hole and reference column 4112b cooperation in angle measurement device 4's installation department on saddle 5, make things convenient for angle measurement device 4 to accurately install.
Based on the same inventive concept, the present embodiment further provides a semi-trailer type transportation vehicle, please refer to fig. 1, fig. 2 and fig. 3, the semi-trailer type transportation vehicle may include: the angle measuring device comprises a tractor 1, a semi-trailer 2 and any one of the angle measuring devices 4 provided by the above embodiments, wherein the tractor 1 comprises a vehicle head and a bearing part 11, the semi-trailer 2 comprises a carriage and a lapping part 21, the bearing part 11 of the tractor 1 is provided with a saddle 5, the lapping part 21 of the semi-trailer 2 is provided with a traction pin 3, and the semi-trailer 2 is rotationally connected with the saddle 5 through the traction pin 3; the angle measuring device 4 is installed at one side of the saddle 5 and around the kingpin 3, and the axis of the measuring wheel 42 in the angle measuring device 4 is disposed coplanar with the axis of the kingpin 3.
It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. The utility model provides an angle measuring device, is applied to semi-trailer transport vechicle, semi-trailer transport vechicle includes tractor and semitrailer, the overlap joint portion of semitrailer pass through the towing pin with the tractor rotates to be connected, towing pin fixed mounting in the overlap joint portion of semitrailer, its characterized in that includes: installing support, measuring wheel and angle sensor, wherein:
the mounting bracket is used for being mounted on the tractor, and the mounting bracket is positioned on the periphery of the traction pin; the measuring wheel is rotatably arranged on the mounting bracket around the axis of the measuring wheel, the axis of the measuring wheel and the axis of the traction pin are positioned in the same plane, the outer peripheral surface of the measuring wheel is in contact with the bottom surface of the overlapping part, and the overlapping part drives the measuring wheel to rotate under the condition that the semitrailer rotates relative to the tractor; the angle sensor is used for detecting the rotation angle of the measuring wheel;
the measuring wheel is of a circular truncated cone structure, the diameter of the top surface of the measuring wheel is smaller than that of the bottom surface of the measuring wheel, the top surface of the measuring wheel faces the traction pin, and the part, facing the lap joint part, of the outer peripheral surface of the measuring wheel is parallel to the bottom surface of the lap joint part;
the distance between the size of the measuring wheel and the axial lead of the measuring wheel and the traction pin satisfies the following formula:
wherein R is 1 Is the radius of the top surface of the measuring wheel, R 2 Is the radius of the bottom surface of the measuring wheel, L 1 The vertical distance from the contact point of the top surface of the measuring wheel and the lap part to the axial lead of the towing pin under the condition that the measuring wheel is in contact with the lap part, L 2 Is the perpendicular distance from the contact point of the bottom surface of the measuring wheel and the lap part to the axis of the towing pin under the condition that the measuring wheel is in contact with the lap part.
2. The angle measuring device of claim 1, wherein the mounting bracket comprises a bracket mount, a support assembly, and a measuring bracket;
the bracket base is provided with an installation groove, and the axial lead of the installation groove is approximately parallel to the axial lead of the traction pin;
the supporting component comprises a supporting rod and an elastic supporting piece, one end of the supporting rod extends into the mounting groove, the supporting rod is connected with the mounting groove in a sliding mode, and the supporting rod is used for supporting the measuring support; the elastic support piece is arranged in the mounting groove, is positioned between the support rod and the groove bottom of the mounting groove and is used for providing elastic support force for the support rod;
the measuring support is arranged at the other end of the supporting rod, and the measuring wheel and the angle sensor are arranged on the measuring support.
3. The angle measuring device of claim 2, wherein the measuring bracket includes a base, and a sensor mounting plate and a measuring wheel mounting plate on a side of the base facing away from the bracket base, the sensor mounting plate being spaced apart from the measuring wheel mounting plate;
one side that the measuring wheel deviates from the towing pin is connected with the connecting axle, the connecting axle with the measuring wheel is coaxial to be set up, the connecting axle rotatably install in the measuring wheel mounting panel, angle sensor install in the sensor mounting panel, angle sensor with the connecting axle is coaxial to be set up, and angle sensor with the connecting axle is connected.
4. An angle measuring device according to claim 3, wherein the connecting shaft is mounted to the measuring wheel mounting plate by a bearing.
5. The angle measuring device of claim 2, wherein the support bar is mounted to the mounting groove by a linear bearing.
6. The angle measuring device of claim 2, wherein the mounting bracket further comprises a limiting mechanism for limiting a distance of movement of the measuring bracket toward movement away from the bracket mount.
7. The angle measuring device of claim 6, wherein the stand base includes a support portion and a connecting portion fixed to the support portion, the mounting groove is provided in the support portion, and the connecting portion is used for connecting with the tractor;
stop gear includes "U" type support, "U" type support includes two spacing posts that the interval set up and connects two the horizontal pole of spacing post one end, the supporting part is located two between the spacing post, and the other end of two spacing posts with measure the leg joint, the supporting part is located the horizontal pole with measure between the support.
8. The angle measuring apparatus of claim 1, wherein the measuring wheel is provided with a non-slip mat on an outer circumferential surface thereof.
9. A semi-trailer transport vehicle, comprising: tractor, semitrailer and angle measuring device according to any of claims 1-8, the load-bearing part of the tractor being provided with a saddle and the overlapping part of the semitrailer being provided with a traction pin, the semitrailer being rotationally connected to the saddle by means of the traction pin; the angle measuring device is mounted to the saddle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210480520.1A CN114834528B (en) | 2022-05-05 | 2022-05-05 | Angle measuring device and semi-trailer type transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210480520.1A CN114834528B (en) | 2022-05-05 | 2022-05-05 | Angle measuring device and semi-trailer type transport vehicle |
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| CN114834528A CN114834528A (en) | 2022-08-02 |
| CN114834528B true CN114834528B (en) | 2023-02-28 |
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| EP0989050A1 (en) * | 1998-09-22 | 2000-03-29 | Sc2N | Angle sensor system, especially for a motor vehicle steering column |
| CN108437884A (en) * | 2018-02-08 | 2018-08-24 | 江苏大学 | A kind of caravan trailer hinged place angle measurement unit |
| CN109649491A (en) * | 2018-04-04 | 2019-04-19 | 北京图森未来科技有限公司 | A kind of vehicle |
| CN112389437A (en) * | 2021-01-21 | 2021-02-23 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
| CN212605417U (en) * | 2020-03-16 | 2021-02-26 | 广东嘉腾机器人自动化有限公司 | Wheel steering angle measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8917170B2 (en) * | 2011-10-04 | 2014-12-23 | Santo A. Padula | Apparatus for measuring articulation angle between a tractor and trailer in an articulated vehicle |
| CN113432553B (en) * | 2020-03-23 | 2023-06-16 | 北京图森智途科技有限公司 | Trailer pinch angle measuring method and device and vehicle |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0989050A1 (en) * | 1998-09-22 | 2000-03-29 | Sc2N | Angle sensor system, especially for a motor vehicle steering column |
| CN108437884A (en) * | 2018-02-08 | 2018-08-24 | 江苏大学 | A kind of caravan trailer hinged place angle measurement unit |
| CN109649491A (en) * | 2018-04-04 | 2019-04-19 | 北京图森未来科技有限公司 | A kind of vehicle |
| CN212605417U (en) * | 2020-03-16 | 2021-02-26 | 广东嘉腾机器人自动化有限公司 | Wheel steering angle measuring device |
| CN112389437A (en) * | 2021-01-21 | 2021-02-23 | 北京主线科技有限公司 | Device and method for measuring and calculating included angle between head and trailer of automatic driving truck |
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| CN114834528A (en) | 2022-08-02 |
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