CN115817638A - Corner sensor device and automatic driving automobile - Google Patents
Corner sensor device and automatic driving automobile Download PDFInfo
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- CN115817638A CN115817638A CN202211542542.2A CN202211542542A CN115817638A CN 115817638 A CN115817638 A CN 115817638A CN 202211542542 A CN202211542542 A CN 202211542542A CN 115817638 A CN115817638 A CN 115817638A
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Abstract
The invention discloses a corner sensor device and an automatic driving automobile, wherein the corner sensor device comprises a shell, a corner sensor, a connecting module and a bracket; the angle sensor comprises a sensor inner ring and a sensor outer ring, the connecting module comprises a transmission shaft and a connecting limiting block, the first end of the transmission shaft is mechanically connected with the connecting limiting block, the second end of the transmission shaft is in transmission connection with an input shaft of the steering gear, the connecting limiting block is mechanically connected with the sensor inner ring, and the sensor outer ring is fixedly connected with the shell; the first end of the bracket is mechanically connected with the shell, and the second end of the bracket is mechanically connected with the frame; the transmission shaft and the connecting limiting block rotate together with an input shaft of the steering gear and drive the inner ring of the sensor to rotate, and the outer ring of the sensor is fixed and does not rotate; the rotation angle sensor outputs rotation angle information of an input shaft of the steering gear according to the rotation angle change of the inner ring and the outer ring of the sensor. The rotation angle sensor device provided by the embodiment of the invention can ensure the flexible adaptability of the rotation angle sensor.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a corner sensor device and an automatic driving automobile.
Background
The automatic driving vehicle completely subverts the traditional design concept that the traditional vehicle is controlled by a person to drive the vehicle, and the automobile completes the whole driving operation by itself.
The design of the automatic driving vehicle is free of steering wheel, steering column, pedal and other driver control parts, wherein the corner sensor is used as an important steering signal acquisition part in the automatic driving stage, the traditional vehicle type and the steering column are arranged integrally, and after the steering control mechanism disappears, the corner sensor loses the original structural support, so that a new structure is needed to meet the working requirement of the automatic driving vehicle corner sensor.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a corner sensor device and an autonomous driving vehicle, where a connection module for connecting a corner sensor and a steering gear includes a transmission shaft and a connection limiting block, and the transmission shaft and the connection module adopt an adjustable mechanical connection manner to ensure flexible adaptability of the corner sensor and improve detection accuracy of the corner sensor.
In a first aspect, an embodiment of the present invention provides a rotation angle sensor device, including: the device comprises a shell, a corner sensor, a connecting module and a bracket;
the angle sensor comprises a sensor inner ring and a sensor outer ring, the connecting module comprises a transmission shaft and a connecting limiting block, the first end of the transmission shaft is mechanically connected with the connecting limiting block, the second end of the transmission shaft is in transmission connection with an input shaft of a steering gear, the connecting limiting block is mechanically connected with the sensor inner ring, and the sensor outer ring is fixedly connected with the shell; the rotation angle sensor and the shell are connected with an input shaft of the transmission shaft in a sliding mode, and the rotation angle sensor moves along the axis of the transmission shaft;
the first end of the bracket is mechanically connected with the shell, and the second end of the bracket is mechanically connected with the frame;
the transmission shaft and the connecting limiting block rotate along with the input shaft of the steering gear and drive the sensor inner ring to rotate, and the sensor outer ring is fixed and does not rotate; and the rotation angle sensor outputs rotation angle information of an input shaft of the steering gear according to the rotation angle change of the sensor inner ring and the sensor outer ring.
Optionally, the housing includes a plurality of kidney-shaped holes, and the housing includes a first housing and a second housing, where the first housing and the second housing form a sensor body placement cavity for placing the rotation angle sensor; the bracket comprises a first bracket and a second bracket, the first bracket is mechanically connected with the first shell, and the second bracket is mechanically connected with the second shell;
the first shell comprises a first shell waist-shaped hole, the second shell comprises a second shell waist-shaped hole, the first support comprises a first support waist-shaped hole, and the second support comprises a second support waist-shaped hole;
the first shell waist-shaped hole and the first bracket waist-shaped hole are fixedly connected through a first bolt and are used for realizing the fixed arrangement of the first shell and the first bracket; the second shell waist-shaped hole and the second support waist-shaped hole are fixedly connected through a second bolt and used for realizing the fixed arrangement of the second shell and the second support.
Optionally, the first stent includes a third stent kidney-shaped hole, and the second stent includes a fourth stent kidney-shaped hole;
the third bracket waist-shaped hole is fixedly connected with the frame through a fourth bolt and is used for realizing the fixed arrangement of the first bracket and the frame; and the fourth support waist-shaped hole is fixedly connected with the frame through a fifth bolt, and is used for realizing the fixed arrangement of the second support and the frame.
Optionally, a plurality of the kidney-shaped holes are combined for use, so that the rotation angle sensor and the shell are adjustable in the axial direction of the transmission shaft;
the plurality of kidney-shaped holes comprise two opposite arc edges and two opposite straight edges;
the extending direction of the straight line edge is equal to the extending direction of the waist-shaped holes, and the extending direction of the waist-shaped holes is parallel to and/or perpendicular to the bottom edge of the first shell.
Optionally, the drive shaft comprises a safety locating wire.
Optionally, the sensor inner circle includes the screens structure, it sets up the chamber to connect the stopper including the screens structure, the screens structure is arranged in the screens sets up the chamber, be used for mechanical connection the sensor inner circle with connect the stopper.
Optionally, the corner sensor device further includes a dust seal, and the dust seal is disposed at a joint between the first end of the transmission shaft and the connection limiting block.
Optionally, the rotation angle sensor device further includes a support bearing, and the support bearing is used for bearing the connection limiting block.
Optionally, the connection limiting block comprises a positioning bolt, the first end of the transmission shaft comprises a positioning bolt placing cavity, the positioning bolt is arranged in the bolt placing cavity and is used for mechanically connecting the connection limiting block and the transmission shaft.
In a second aspect, an embodiment of the present invention provides an autonomous vehicle, including the rotation angle sensor device according to any one of the first aspects and the steering gear;
the corner sensor device comprises a connecting module, and an input shaft of the steering gear is in transmission connection with the corner sensor through the connecting module.
The embodiment of the invention provides a corner sensor device, which comprises a shell, a corner sensor and a connecting module, wherein the shell is provided with a first opening and a second opening; the rotation angle sensor comprises a sensor inner ring and a sensor outer ring, and can output a rotation angle signal based on the angle change of the sensor inner ring and the sensor outer ring. Specifically, the rotation angle sensor is in transmission connection with an input shaft of the steering gear through the connection module, namely the rotation angle sensor outputs a rotation angle signal of the input shaft of the steering gear. Furthermore, the connecting module comprises a transmission shaft and a connecting limiting block, the first end of the transmission shaft is mechanically connected with the connecting limiting block, the second end of the transmission shaft is in transmission connection with the input shaft of the steering gear, the connecting limiting block is mechanically connected with the inner ring of the sensor, and the outer ring of the sensor is fixedly connected with the shell; the transmission shaft and the connecting module are in adjustable mechanical connection, so that the corner sensor can output a steering gear corner signal, and flexible adjustability is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of a rotation angle sensor device according to an embodiment of the present invention;
fig. 2 is a side view of a rotation angle sensor device according to an embodiment of the present invention;
fig. 3 is a side view of another rotation angle sensor device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first housing according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a second housing according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a first bracket according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a second bracket according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a transmission shaft according to an embodiment of the present invention;
fig. 9 is an enlarged schematic view of the area a in fig. 3.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be fully described by the detailed description with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without inventive efforts fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a system, article, or apparatus that comprises a list of elements is not necessarily limited to those steps or elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.
Fig. 1 is a schematic structural view of an angle of rotation sensor device according to an embodiment of the present invention, fig. 2 is a side view of an angle of rotation sensor device according to an embodiment of the present invention, fig. 3 is a side view of another angle of rotation sensor device according to an embodiment of the present invention, and referring to fig. 1 to 3, an angle of rotation sensor device 10 according to an embodiment of the present invention includes a housing 100, an angle of rotation sensor 200, a connection module 300, and a bracket 600; the rotation angle sensor 200 includes a sensor inner ring 210 and a sensor outer ring 220, the connection module 300 includes a transmission shaft 310 and a connection limiting block 320, a first end of the transmission shaft 310 is mechanically connected to the connection limiting block 320, a second end of the transmission shaft 310 is in transmission connection with an input shaft (not specifically shown in the figures) of the steering gear, the connection limiting block 320 is mechanically connected to the sensor inner ring 220, and the sensor outer ring 210 is fixedly connected to the housing 100; the rotation angle sensor 200 and the housing 100 are slidably connected with an input shaft of the transmission shaft 310, and the rotation angle sensor 200 moves along the axis of the transmission shaft 310; a first end of the bracket 600 is mechanically connected with the housing 100, and a second end of the bracket 600 is mechanically connected with a vehicle frame (not specifically shown in the figure); the transmission shaft 310 and the connection limiting block 320 rotate together with the input shaft of the steering gear and drive the sensor inner ring 210 to rotate, and the sensor outer ring 220 is fixed and does not rotate; the rotational angle sensor 200 outputs rotational angle information of an input shaft of the steering gear according to the rotational angle changes of the sensor inner race 210 and the sensor outer race 220.
The rotation angle sensor device 10 may be applied to an autonomous vehicle, and is in transmission connection with an input shaft of a steering gear, so as to provide an accurate rotation angle signal of the input shaft of the steering gear. For example, the steering sensor device 10 may be used in an L4 autopilot technology, where the L4 autopilot technology refers to an automatic system that is capable of completing driving tasks and monitoring driving environment under certain circumstances and specific conditions, and at this stage, all tasks related to driving and passengers are irrelevant to the extent that autopilot can be operated, and this is not particularly limited in the embodiments of the present invention.
Further, the rotation angle sensor device 10 includes a housing 100, a rotation angle sensor 200, a connection module 300, and the like, wherein the rotation angle sensor 200 includes a sensor inner ring 210 and a sensor outer ring 220, while the housing 100 is used for providing a space for carrying the rotation angle sensor 200, and the sensor outer ring 220 is fixedly connected with the housing 100, i.e., the sensor outer ring 220 is fixed. The sensor inner ring 210 is in transmission connection with the input shaft of the steering gear via the connection module 300, that is, when the input shaft of the steering gear rotates, the sensor inner ring 210 rotates together. In the rotation angle sensor 200, the sensor inner ring 210 rotates along with the input shaft of the steering gear, and the sensor outer ring 220 is fixed, so that the rotation angle sensor 200 outputs rotation angle information of the steering gear based on the change of the relative rotation angle between the sensor inner ring 210 and the sensor outer ring 220, and the judgment of the motion state of the input shaft of the steering gear is realized.
Further, the connection module 300 includes a transmission shaft 310 and a connection limiting block 320, and the first end of the transmission shaft 310 is mechanically connected to the connection limiting block 320, that is, the transmission shaft 310 and the connection limiting block 320 are in a split structure, and are not the connection module 300 integrally disposed. The second end of the transmission shaft 310 is in transmission connection with the input shaft of the steering gear, that is, the transmission of the rotation angle condition of the input shaft of the steering gear is realized through the transmission shaft 310, and the rotation angle sensor 200 is arranged outside the steering gear, so that the rotation angle information of the input shaft of the steering gear can be accurately provided through the rotation angle sensor 200. The connecting limiting block 320 is mechanically connected with the sensor inner ring 220, the rotation angle condition transmitted by the transmission shaft 310 can be acted on the sensor inner ring 210 through the connecting limiting block 320, and the rotation angle information of the input shaft of the steering gear is determined through the rotation angle difference between the sensor inner ring 210 and the sensor outer ring 220. That is, the connection module 300 is connected to the rotation angle sensor 200 through the transmission shaft 310 and the connection stopper 320, and the connection module 300 is also non-integrally provided with the housing 100 and the rotation angle sensor 200. By providing the connection module 300 and the connection module 300 as an independent arrangement structure, the position adjustment of the connection module 300 and the rotation angle sensor 200 can be realized, i.e., the position setting has flexibility, configurable conditions, and is adaptable to various scenes.
Furthermore, the rotation angle sensor device 10 further includes a bracket 600, one end of the bracket 600 is mechanically connected to the housing 100, and the other end of the bracket 600 is mechanically connected to the vehicle frame, that is, the housing 100 with the rotation angle sensor 200 is fixed to the vehicle frame through the bracket 600. Moreover, by arranging the bracket 600, a non-integrated structure of the bracket 600 and the shell 100 is embodied, and the corner sensor device 10 is more flexible to arrange, stronger in adjustability and better in adaptability.
It should be noted that fig. 2 and 3 provide two views, i.e., a front view and a rear view, of the rotation angle sensor device 10 shown in fig. 1, i.e., fig. 1, 2 and 3 show the same rotation angle sensor device 10, which are only illustrated in three different drawing manners for easy understanding.
In summary, the embodiment of the present invention provides an angle sensor device, where the angle sensor is in transmission connection with an input shaft of a steering gear through a connection module, that is, the angle sensor outputs an angle signal of the steering gear. Furthermore, the connecting module comprises a transmission shaft and a connecting limiting block, the first end of the transmission shaft is mechanically connected with the connecting limiting block, the second end of the transmission shaft is in transmission connection with an input shaft of the steering gear, the connecting limiting block is mechanically connected with the inner ring of the sensor, and the outer ring of the sensor is fixedly connected with the shell; the transmission shaft and the connecting module adopt an adjustable mechanical connecting mode to ensure that the corner sensor outputs a steering gear corner signal, and meanwhile, the steering gear has flexible adjustability and wider adaptation range.
Fig. 4 is a schematic structural diagram of a first housing according to an embodiment of the present invention, fig. 5 is a schematic structural diagram of a second housing according to an embodiment of the present invention, fig. 6 is a schematic structural diagram of a first bracket according to an embodiment of the present invention, fig. 7 is a schematic structural diagram of a second bracket according to an embodiment of the present invention, referring to fig. 1 to 8, a housing 100 includes a plurality of kidney-shaped holes, the housing 100 includes a first housing 110 and a second housing 120, and the first housing 110 and the second housing 120 form a sensor body placement cavity for placing a rotation angle sensor 200; the bracket 6000 further includes a first bracket 610 and a second bracket 620, the first bracket 610 is mechanically connected with the first housing 110, and the second bracket 620 is mechanically connected with the second housing 120; the first housing 110 includes a first housing kidney-shaped hole 110A, the second housing 120 includes a second housing kidney-shaped hole 120A, the first bracket 610 includes a first bracket kidney-shaped hole 610A, and the second bracket 620 includes a second bracket kidney-shaped hole 620A; the first housing kidney-shaped hole 110A and the first bracket kidney-shaped hole 610A are fixedly connected through a first bolt 151, so as to realize the fixed arrangement of the first housing 110 and the first bracket 610; the second housing kidney-shaped hole 120A and the second support kidney-shaped hole 620A are fixedly connected through a second bolt 161, so as to realize the fixed arrangement of the second housing 120 and the second support 620.
Specifically, the housing 100 includes a first housing 110 and a second housing 120, the first housing 110 and the second housing 120 form a sensor body placing cavity for placing the rotation angle sensor 200, and the sensor outer ring 220 is fixed on the first housing 110 and the second housing 120, so as to ensure the fixed connection between the sensor outer ring 220 and the housing 100. Further, the bracket 600 further includes a first bracket 610 and a second bracket 620, and the first bracket 610 and the second bracket 620 are arranged to support the first casing 110, the second casing 120, and the rotation angle sensor 200 located in the first casing 110 and the second casing 120.
Further, the first housing 110 includes a first housing kidney-shaped hole 110A, the second housing 120 includes a second housing kidney-shaped hole 120A, the first bracket 610 includes a first bracket kidney-shaped hole 610A, and the second bracket 620 includes a second bracket kidney-shaped hole 620A, which has an extra space for position adjustment compared to the conventional circular hole. Specifically, the first housing kidney-shaped hole 110A and the first bracket kidney-shaped hole 610A are fixedly connected by the first bolt 151, and the first nut 152 is disposed on the first bolt 151, so that the first housing 110 and the first bracket 610 are fixedly disposed, and based on the shapes of the first housing kidney-shaped hole 110A and the first bracket kidney-shaped hole 610A, the positions of the first housing 110 and the first bracket 610 can be adjusted before the first housing 110 and the first bracket 610 are fixed by the first nut 152. Similarly, the second housing kidney-shaped hole 120A and the second support kidney-shaped hole 620A are fixedly connected through the second bolt 161, and the second nut 162 is disposed on the second bolt 161 for fixing the second housing 120 and the second support 620, and based on the shapes of the second support kidney-shaped hole 140A and the second support kidney-shaped hole 620A, the positions of the second housing 120 and the second support 620 can be adjusted before the second housing is fixed through the second nut 162. And then guarantee the adaptation tolerance when corner sensor device 10 assembles, guarantee the better cooperation of each structure, promote the accuracy that corner sensor device 10 acquireed the corner information.
Alternatively, as shown in fig. 1 to 7, the first housing 110 may include a plurality of third bolts 153, the second housing 120 may include a plurality of third through holes 163, and the third bolts 153 may be disposed in the third through holes 163 to ensure stable connection between the first housing 110 and the second housing 120, and further, in order to ensure stable installation of the rotation angle sensor device 10, bolts, through holes, nuts, and the like may be additionally disposed at different positions of the housing 100, which is not specifically limited in the embodiment of the present invention.
Further, referring to fig. 1 to 7, the first bracket 610 includes a third bracket kidney-shaped hole 610B, and the second bracket 620 includes a fourth bracket kidney-shaped hole 620B; the third bracket kidney-shaped hole 610B is fixedly connected with the frame (not specifically shown in the figures) through a fourth bolt 171, so as to realize the fixed arrangement of the first bracket 610 and the frame; the fourth bracket kidney-shaped hole 620B is fixedly connected with the frame through a fifth bolt (not specifically shown in the figure, only the placement area, i.e., the area C is shown) for realizing the fixed arrangement of the second bracket 620 and the frame.
Specifically, the first bracket 610 further includes a third bracket kidney-shaped hole 610B, the second bracket 620 includes a fourth bracket kidney-shaped hole 620B, and the third bracket kidney-shaped hole 610B and the fourth bracket kidney-shaped hole 620B are fixedly connected to the vehicle frame, so as to determine the setting position of the rotation angle sensor device 10. Further, the third bracket kidney-shaped hole 610B and the frame are fixedly connected through the fourth bolt 171, and the corresponding nut 172 is fixedly arranged on the fourth bolt 171 for realizing the fixed arrangement of the first bracket 610 and the frame, and based on the shape of the third bracket kidney-shaped hole 610B, the position of the first bracket 610 and the frame can be adjusted before the third bracket kidney-shaped hole 610B is fixed through the corresponding nut 172. In a similar way, fourth support waist type hole 620B and frame pass through fifth bolt fixed connection, and set up the corresponding nut on frame bolt fastening, be used for realizing the fixed setting of second support 620 and frame, based on fourth support waist type hole 620B's shape, before not fixed through the nut that corresponds, can carry out the regulation of position to second support 140 and frame, and then adaptation tolerance when guaranteeing corner sensor device 10 assembly, guarantee the better cooperation of each structure, promote corner sensor device 10 and acquire the accuracy of corner information. The fourth bolt 171 and the fifth bolt 172 may be bolts disposed on the rotation angle sensor device 10 or bolts disposed on the vehicle frame, but the embodiment of the present invention is not particularly limited thereto. And, the accuracy and stability of the operation of the rotation angle sensor device 10 are ensured by adjusting the fixing of the first bracket 610 and the second bracket 620 to the vehicle frame respectively, i.e. ensuring that the rotation angle sensor device 10 is more stably fixed to the vehicle frame from two points.
With continued reference to fig. 4 and 5, a plurality of kidney-shaped holes are combined to realize that the rotation angle sensor 200 and the housing 100 are adjustable in the axial direction of the transmission shaft 310; the plurality of kidney-shaped holes comprise two opposite arc edges and two opposite straight edges; the straight line side extends in a direction equal to the extension direction of the kidney-shaped holes, and the plurality of kidney-shaped holes extend in a direction parallel and/or perpendicular to the bottom side of the first housing 110.
Specifically, taking the first housing waist-shaped hole 110 as an example in fig. 5, the extending direction of the straight line side in the first housing waist-shaped hole 110 is parallel to the bottom side D of the first housing 110, and based on the shape of the first housing waist-shaped hole 110, the first housing 110 and the first bracket 130 can be moved left and right along the extending direction of the straight line side when being fixed, so that adjustment can be performed before the angle sensor device 10 is fitted. Further, the extending direction of the kidney-shaped hole may be perpendicular to the bottom edge of the first housing 110, and further, the extending direction of the kidney-shaped holes may also be different, that is, the direction of adjusting the position of the rotation angle sensor device 10 is enriched, which is not specifically limited in the embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a transmission shaft according to an embodiment of the present invention, and referring to fig. 8, the transmission shaft 310 includes a safety positioning line 312.
Specifically, the corner sensor device 10 includes a plurality of kidney-shaped holes, and the plurality of kidney-shaped holes can ensure that the corner sensor device 10 can be adjusted in multiple directions and angles before being fixed, so that the corner sensor device 10 can be flexibly arranged. Referring to fig. 8, the transmission shaft 310 further includes a safety positioning wire 312, and the safety positioning wire 312 is used to ensure the accuracy of adjustment of the rotation angle sensor device 10.
For example, when the connection module 300, the rotation angle sensor 200 and the housing 100 are connected, if the safety positioning line 312 of the transmission shaft 310 is not exposed, it is verified that the fitting relationship between the connection module 300, the rotation angle sensor 200 and the housing 100 is correct, and if the safety positioning line 312 of the transmission shaft 310 is exposed, it is verified that the fitting relationship between the connection module 300, the rotation angle sensor 200 and the housing 100 is incorrect, and the fitting relationship can be adjusted by using the safety positioning line 312 as a standard, so as to ensure that the rotation angle sensor 200 obtains accurate rotation angle information.
Fig. 9 is an enlarged schematic view of the area a in fig. 3, and referring to fig. 9, the sensor inner ring 210 includes a detent structure 210A, the connection stopper 320 includes a detent structure setting cavity 320A, and the detent structure 210A is disposed in the detent structure setting cavity 320A and is used for mechanically connecting the sensor inner ring 210 and the connection stopper 320.
Specifically, referring to fig. 9, the sensor inner ring 210 includes a detent structure 210A, the connection limiting block 320 includes a detent structure setting cavity 320A, the detent structure 210A is disposed in the detent setting cavity 320A, and when the connection limiting block 320 rotates according to the transmission shaft 310, the detent structure 210A is driven to rotate by the detent setting cavity 320A, so as to drive the sensor inner ring 210 to rotate. By providing the detent structure 210A and the detent setting cavity 320A, the rotation effect of the sensor inner ring 210 is ensured, abrasion of the sensor inner ring 210 is avoided, and the working accuracy and stability of the angle sensor device 10 are ensured.
Further, the sensor inner ring 210 and the connection limiting block 320 synchronously rotate through the clamping structure 210A and the clamping setting cavity 320, and the clamping structure 210A and the clamping setting cavity 320 can move along the axial direction of the transmission shaft 310, that is, the sensor inner ring 210 and the connection limiting block 320 realize space adjustment, so that the adjustment direction and the adjustment angle of the corner sensor device 10 are further enriched, and a more flexible setting mode of the corner sensor device 10 is realized.
With continued reference to fig. 1 and 5, the rotation angle sensor device 10 further includes a dust seal 400, and the dust seal 400 is disposed at a connection position between the first end of the transmission shaft 310 and the connection limiting block 320.
Specifically, the rotation angle sensor device 10 further includes a dust seal 400, and the dust seal 400 can prevent the external environment from affecting the rotation angle change of the rotation angle sensor 200 and affecting the judgment of the rotation angle information of the input shaft of the steering gear.
Further, referring to fig. 3, the rotation angle sensor device 10 further includes a supporting bearing 500, and the supporting bearing 500 is used for bearing the connection limiting block 320.
Specifically, the angle sensor device 10 further includes a support bearing 500, which is used for providing a support force for the sensor inner ring 210 and the connection limiting block 320, ensuring the stability of the overall structure of the angle sensor device 10, and ensuring that the angle sensor 200 accurately obtains the angle information of the input shaft of the steering gear. Further, the support bearing 500 can also ensure the coaxiality of the transmission shaft 310, ensure the stability of the transmission shaft 310 during rotation, and further ensure the working accuracy and stability of the rotation angle sensor 10.
With continued reference to fig. 8, the connection limiting block 320 includes a positioning bolt 321, the first end of the transmission shaft 310 includes a positioning bolt placing cavity 311, and the positioning bolt 321 is placed in the bolt placing cavity 311 for mechanically connecting the connection limiting block 320 and the transmission shaft 310.
The connecting limiting block 320 comprises a positioning bolt 321, the transmission shaft 310 comprises a positioning bolt placing cavity 311, as shown in fig. 8, the positioning bolt 321 is placed in the bolt placing cavity 311, so that the connecting limiting block 320 is mechanically connected with the transmission shaft 310, and it is ensured that the transmission shaft 310 can transmit the rotation angle information of the input shaft of the steering gear to the connecting limiting block 320. Moreover, the first end of the transmission shaft 310 includes a bolt placing cavity 311 having threads therein, so as to ensure that the positioning bolt 321 is stably placed in the bolt placing cavity 311, and the depth of the positioning bolt 321 embedded in the bolt placing cavity 311 can be adjusted based on different scenes, that is, the transmission shaft 321 can adjust the depth along the extending direction thereof.
Based on the same inventive concept, the embodiment of the invention also provides an automatic driving automobile, which comprises the rotation angle sensor device and the steering gear, and the input shaft of the steering gear is connected with the rotation angle sensor device through the connecting module. The rotation angle sensor provided by the embodiment of the present invention has the technical effects of the technical solutions in any of the above embodiments, and the structures and terms identical to or corresponding to those in the above embodiments are not repeated herein.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A rotation angle sensor device characterized by comprising: the device comprises a shell, a corner sensor, a connecting module and a bracket;
the angle sensor comprises a sensor inner ring and a sensor outer ring, the connecting module comprises a transmission shaft and a connecting limiting block, the first end of the transmission shaft is mechanically connected with the connecting limiting block, the second end of the transmission shaft is in transmission connection with an input shaft of a steering gear, the connecting limiting block is mechanically connected with the sensor inner ring, and the sensor outer ring is fixedly connected with the shell; the rotation angle sensor and the shell are connected with an input shaft of the transmission shaft in a sliding mode, and the rotation angle sensor moves along the axis of the transmission shaft;
the first end of the bracket is mechanically connected with the shell, and the second end of the bracket is mechanically connected with the frame;
the transmission shaft and the connecting limiting block rotate together with the input shaft of the steering gear and drive the inner ring of the sensor to rotate, and the outer ring of the sensor is fixed and does not rotate; and the rotation angle sensor outputs rotation angle information of an input shaft of the steering gear according to the rotation angle change of the sensor inner ring and the sensor outer ring.
2. The rotation angle sensor device according to claim 1, wherein the housing includes a plurality of kidney-shaped holes, the housing includes a first housing and a second housing, the first housing and the second housing form a sensor body placement chamber for placing the rotation angle sensor; the bracket comprises a first bracket and a second bracket, the first bracket is mechanically connected with the first shell, and the second bracket is mechanically connected with the second shell;
the first shell comprises a first shell waist-shaped hole, the second shell comprises a second shell waist-shaped hole, the first support comprises a first support waist-shaped hole, and the second support comprises a second support waist-shaped hole;
the first shell waist-shaped hole and the first support waist-shaped hole are fixedly connected through a first bolt and are used for realizing the fixed arrangement of the first shell and the first support; the second shell waist-shaped hole and the second support waist-shaped hole are fixedly connected through a second bolt and used for realizing the fixed arrangement of the second shell and the second support.
3. The rotation angle sensor device according to claim 2, wherein the first bracket includes a third bracket kidney-shaped hole, and the second bracket includes a fourth bracket kidney-shaped hole;
the third bracket waist-shaped hole is fixedly connected with the frame through a fourth bolt and is used for realizing the fixed arrangement of the first bracket and the frame; and the fourth support waist-shaped hole is fixedly connected with the frame through a fifth bolt, and the fourth support waist-shaped hole is used for realizing the fixed arrangement of the second support and the frame.
4. The rotation angle sensor device according to claim 3, wherein a plurality of the kidney-shaped holes are used in combination to make the rotation angle sensor and the housing adjustable in the axial direction of the transmission shaft;
the plurality of kidney-shaped holes comprise two opposite arc edges and two opposite straight edges;
the extending direction of the straight line edge is equal to the extending direction of the waist-shaped holes, and the extending direction of the waist-shaped holes is parallel to and/or perpendicular to the bottom edge of the first shell.
5. The rotation angle sensor device according to claim 1, wherein the transmission shaft includes a safety positioning wire.
6. The rotation angle sensor device according to claim 1, wherein the sensor inner ring includes a detent structure, and the connection stopper includes a detent structure setting cavity, and the detent structure is disposed in the detent structure setting cavity and is used for mechanically connecting the sensor inner ring and the connection stopper.
7. The rotation angle sensor device according to claim 1, further comprising a dust seal, wherein the dust seal is disposed at a joint of the first end of the transmission shaft and the connection limiting block.
8. The rotation angle sensor device according to claim 1, further comprising a support bearing for carrying the connection stopper.
9. The rotation angle sensor device according to claim 1, wherein the connection limiting block comprises a positioning bolt, the first end of the transmission shaft comprises a positioning bolt placing cavity, and the positioning bolt is placed in the bolt placing cavity and used for mechanically connecting the connection limiting block and the transmission shaft.
10. An autonomous vehicle, characterized by comprising the rotation angle sensor device according to any one of claims 1 to 9 and the steering gear;
the rotation angle sensor device comprises a connecting module, and an input shaft of the steering gear is in transmission connection with the rotation angle sensor through the connecting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211542542.2A CN115817638A (en) | 2022-12-02 | 2022-12-02 | Corner sensor device and automatic driving automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211542542.2A CN115817638A (en) | 2022-12-02 | 2022-12-02 | Corner sensor device and automatic driving automobile |
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| Publication Number | Publication Date |
|---|---|
| CN115817638A true CN115817638A (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211542542.2A Pending CN115817638A (en) | 2022-12-02 | 2022-12-02 | Corner sensor device and automatic driving automobile |
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| CN (1) | CN115817638A (en) |
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