Front axle steering feedback device of mining dump truck

Abstract

The utility model relates to the technical field of automobile front axles, in particular to a mining dump truck front axle steering feedback device which comprises a front axle, steering knuckles are fixedly connected to the two ends of the front axle respectively, and steering arms are hinged to the two ends of the steering knuckles respectively. The steering angle measuring assembly is arranged at one end of the steering arm, the steering angle measuring assembly is used for measuring the steering angle of the steering arm, and the steering angle measuring assembly comprises a hinge shaft fixedly connected to the middle of one end of the steering arm. According to the utility model, the steering arm drives the articulated shaft to move, so that the articulated shaft is matched with the sleeve through the first threaded pipe to release or stretch the traction rope, at the moment, the pull rope displacement sensor detects the released or stretched length of the traction rope, and the rotation angle of the steering arm and the steering knuckle is obtained through measurement, thereby completing the feedback of the steering state of the hub. Accurate feedback of the steering angle of the hub is achieved, and therefore a user can conveniently and accurately control running of the unmanned mining dump truck.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile front axles, in particular to a front axle steering feedback device for a mining dump truck. Background Art

[0002] Mining dump trucks have the characteristics of large carrying capacity, short transportation distance and high transportation efficiency. Unmanned mining dump trucks are unmanned driving systems that control mining dump trucks with wire control systems. Without the participation of drivers, the mining trucks can automatically complete loading, driving, unloading and other work cycles along a specific route, and can slow down, avoid or stop when encountering unexpected situations.

[0003] However, in actual use, the prior art is not convenient for accurately feeding back the accuracy of the steering angle, which affects the accurate driving control of the unmanned mining dump truck. Utility Model Content

[0004] The utility model aims to provide a front axle steering feedback device for a mining dump truck, so as to solve the problem that it is not convenient to accurately feedback the accuracy of the steering angle, which affects the accurate driving control of the unmanned mining dump truck.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a front axle steering feedback device for a mining dump truck, comprising:

[0006] A front axle, wherein both ends of the front axle are respectively fixedly connected with a steering knuckle, and both ends of the steering knuckle are respectively hinged with a steering arm;

[0007] A turning angle measuring assembly is arranged at one end of the steering arm, and the turning angle measuring assembly is used to measure the steering angle of the steering arm. The turning angle measuring assembly includes an articulated shaft fixedly connected to the middle part of one end of the steering arm, the bottom threaded connection of the surface of the articulated shaft is provided with a first threaded tube, the surface of the first threaded tube is rotatably connected with a sleeve, and a traction rope is fixedly wrapped around the inner wall of the sleeve, the end of the traction rope away from the sleeve is fixedly connected with a pull rope displacement sensor, and the pull rope displacement sensor is movably arranged on the surface of the front axle, so that when the steering knuckle and the steering arm rotate relative to each other, the steering arm will drive the traction rope to move corresponding to the pull rope displacement sensor through the articulated shaft in cooperation with the first threaded tube and the sleeve.

[0008] Preferably, a wheel hub is rotatably provided at one end of the steering arm, and steering tie rods are hingedly connected to the surfaces of the tops of the two articulated shafts.

[0009] Preferably, a telescopic rod is hinged on the surface of the bottom of the hinge shaft, and the telescopic rod is hinged on the surface of the front axle.

[0010] Preferably, a protective shell is fixedly connected to the surface of the pull-rope displacement sensor, and the protective shell is hinged at the bottom of the hinge position of the telescopic rod and the front axle, and the protective shell is fixedly connected to the surface of the telescopic rod so that the protective shell and the telescopic rod can rotate coaxially.

[0011] Preferably, one end of the protective shell corresponding to the position of the traction rope is fixedly connected to a protective outer tube, the inner wall of the protective outer tube is movably sleeved with a protective inner tube, and the protective inner tube is movably arranged at one end of the sleeve, and the traction rope is located inside the protective outer tube and the protective inner tube, so that the protective outer tube and the protective inner tube protect the traction rope, and the inner wall of the protective outer tube and the surface of the protective inner tube are respectively fixedly connected with limiting rings to prevent the protective inner tube from detaching from the inner wall of the protective outer tube.

[0012] Preferably, one end of the protective inner tube corresponding to the position of the casing is fixedly connected to a second threaded tube, the inner wall of the second threaded tube is threadedly connected to a third threaded tube, and the third threaded tube is fixedly connected to the surface of the casing, so that the protective inner tube can be connected to the casing through the threaded connection between the second threaded tube and the third threaded tube.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The utility model drives the articulated shaft to move through the steering arm, so that the articulated shaft will loosen or stretch the traction rope through the first threaded tube and the sleeve. At this time, the rope displacement sensor detects the length of the traction rope that is loosened or stretched, and measures the angle at which the steering arm and the steering knuckle rotate, thereby completing the feedback of the wheel hub steering state and realizing the accurate feedback of the wheel hub steering angle, so as to facilitate the user to accurately control the driving of the unmanned mining dump truck;

[0015] 2. The utility model also provides a protective outer tube and a protective inner tube, so that when the hinge shaft moves, the protective outer tube and the protective inner tube will also expand and contract like a telescopic rod, and always wrap the traction rope inside the protective outer tube and the protective inner tube to prevent foreign matter from affecting the normal stretching state of the traction rope, thereby affecting the accurate measurement of the steering angle. At the same time, by providing a telescopic rod, and the telescopic rod rotates coaxially with the protective shell, the telescopic rod can play a certain auxiliary supporting role for the protective shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a front axle steering feedback device for a mining dump truck according to the utility model;

[0017] Figure 2 This is a sectional view of the overall structure of a front axle steering feedback device for a mining dump truck according to the utility model;

[0018] Figure 3This is a partial exploded view of the overall structure of a front axle steering feedback device for a mining dump truck of the utility model;

[0019] Figure 4 This is a partial schematic diagram of the overall structure of a front axle steering feedback device for a mining dump truck in the utility model. Figure 1 ;

[0020] Figure 5 This is a partial schematic diagram of the overall structure of a front axle steering feedback device for a mining dump truck in the utility model. Figure 2 ;

[0021] Figure 6 The utility model is a partial cross-sectional view of the overall structure of a front axle steering feedback device for a mining dump truck.

[0022] In the figure: 1. front axle; 2. steering knuckle; 3. steering arm; 4. wheel hub; 5. articulated shaft; 6. steering tie rod; 7. telescopic rod; 8. first threaded tube; 9. sleeve; 10. traction rope; 11. pull rope displacement sensor; 12. protective shell; 13. protective outer tube; 14. protective inner tube; 15. limit ring; 16. second threaded tube; 17. third threaded tube. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-6 The utility model provides a technical solution: a front axle steering feedback device for a mining dump truck, comprising:

[0025] A front axle 1, with steering knuckles 2 fixedly mounted at both ends of the front axle 1, and steering arms 3 hingedly connected at both ends of the steering knuckle 2;

[0026] A turning angle measuring assembly is arranged at one end of the steering arm 3, and the turning angle measuring assembly is used to measure the steering angle of the steering arm 3. The turning angle measuring assembly includes an articulated shaft 5 fixedly installed in the middle of one end of the steering arm 3, a first threaded tube 8 is threadedly connected to the bottom of the surface of the articulated shaft 5, a sleeve 9 is rotatably connected to the surface of the first threaded tube 8, and a traction rope 10 is fixedly wound around the inner wall of the sleeve 9, a pull rope displacement sensor 11 is fixedly installed at one end of the traction rope 10 away from the sleeve 9, and the pull rope displacement sensor 11 is movably arranged on the surface of the front axle 1, so that when the steering knuckle 2 and the steering arm 3 rotate relative to each other, the steering arm 3 will drive the traction rope 10 to move corresponding to the pull rope displacement sensor 11 through the articulated shaft 5 in cooperation with the first threaded tube 8 and the sleeve 9, a wheel hub 4 is rotatably provided at one end of the steering arm 3, and the surfaces of the tops of the two articulated shafts 5 are both articulated with steering tie rods 6;

[0027] When the above structure is in use, the steering arm 3 drives the articulated shaft 5 to move, so that the articulated shaft 5 will loosen or stretch the traction rope 10 through the first threaded tube 8 and the sleeve 9. At this time, the rope displacement sensor 11 detects the length of the traction rope 10 that is relaxed or stretched, and converts the physical change into an electrical signal change, and feeds back to the control system through the cable. The angle of rotation of the steering arm 3 and the steering knuckle 2 can be measured, thereby completing the feedback of the steering state of the wheel hub 4.

[0028] A telescopic rod 7 is hinged on the surface of the bottom of the hinge shaft 5, and the telescopic rod 7 is hinged on the surface of the front axle 1. A protective shell 12 is fixedly installed on the surface of the pull-rope displacement sensor 11, and the protective shell 12 is hinged at the bottom of the hinge position of the telescopic rod 7 and the front axle 1, and the protective shell 12 is fixedly installed on the surface of the telescopic rod 7 so that the protective shell 12 and the telescopic rod 7 can rotate coaxially. By setting the telescopic rod 7 and coaxially rotating the telescopic rod 7 with the protective shell 12, the telescopic rod 7 can play a certain auxiliary supporting role for the protective shell 12.

[0029] A protective outer tube 13 is fixedly installed at one end of the protective shell 12 corresponding to the position of the traction rope 10, and a protective inner tube 14 is movably sleeved on the inner wall of the protective outer tube 13, and the protective inner tube 14 is movably arranged at one end of the sleeve 9, and the traction rope 10 is located inside the protective outer tube 13 and the protective inner tube 14, so that the protective outer tube 13 and the protective inner tube 14 play a protective role on the traction rope 10, and the inner wall of the protective outer tube 13 and the surface of the protective inner tube 14 are respectively fixedly installed with a limiting ring 15 to prevent the protective inner tube 14 from detaching from the inner wall of the protective outer tube 13;

[0030] When the above structure is in use, by providing the protective outer tube 13 and the protective inner tube 14, the traction rope 10 is always wrapped inside the protective outer tube 13 and the protective inner tube 14, preventing foreign matter from affecting the normal stretching state of the traction rope 10, thereby affecting the accurate measurement of the steering angle.

[0031] A second threaded tube 16 is fixedly installed at one end of the protective inner tube 14 corresponding to the position of the sleeve 9, and a third threaded tube 17 is threadedly connected to the inner wall of the second threaded tube 16, and the third threaded tube 17 is fixedly installed on the surface of the sleeve 9, so that the protective inner tube 14 can be connected to the sleeve 9 through the threaded connection between the second threaded tube 16 and the third threaded tube 17. By setting the second threaded tube 16 and the third threaded tube 17, when the device is installed, the first threaded tube 8 is first threadedly connected to the hinge shaft 5, and then the traction rope 10 is passed through the protective outer tube 13 and the protective inner tube 14, and at the same time, the traction rope 10 passes through the sleeve 9 and is fixedly wrapped around the inner wall of the sleeve 9. At this time, the second threaded tube 16 is threadedly connected to the third threaded tube 17, and the wrapping of the traction rope 10 is completed, thereby achieving the purpose of facilitating the wrapping of the traction rope 10 and preventing foreign matter from affecting the traction rope 10 and causing errors in the steering angle measurement.

[0032] Working principle: When in use, the utility model causes the steering arm 3 to drive the articulated shaft 5 to move when the wheel hub 4 and the steering arm 3 rotate relative to the steering knuckle 2, and then causes the articulated shaft 5 to drive the telescopic rod 7 to be articulated with the front axle 1 and compressed at the same time, and at the same time, the articulated shaft 5 loosens or stretches the traction rope 10 through the first threaded tube 8 in cooperation with the sleeve 9. At this time, the rope displacement sensor 11 detects the length of the traction rope 10 that is loosened or stretched, and converts the physical change into an electrical signal change, and feeds back to the control system through the cable. The angle of rotation of the steering arm 3 and the steering knuckle 2 can be measured, thereby completing the feedback of the steering state of the wheel hub 4, and realizing the accurate feedback of the steering angle of the wheel hub 4, so as to facilitate the user to accurately control the driving of the unmanned mining dump vehicle;

[0033] By providing the protective outer tube 13 and the protective inner tube 14, when the hinge shaft 5 moves, the protective outer tube 13 and the protective inner tube 14 will also expand and contract like the telescopic rod 7, and the traction rope 10 will always be wrapped inside the protective outer tube 13 and the protective inner tube 14, so as to prevent foreign matter from affecting the normal stretching state of the traction rope 10, thereby affecting the accurate measurement of the steering angle. At the same time, by providing the telescopic rod 7, and the telescopic rod 7 and the protective shell 12 coaxially rotate, the telescopic rod 7 can play a certain auxiliary supporting role on the protective shell 12, and by providing the second screw The corrugated tube 16 and the third threaded tube 17 enable the device to be installed by first threading the first threaded tube 8 with the hinge shaft 5, and then passing the traction rope 10 through the protective outer tube 13 and the protective inner tube 14. At the same time, the traction rope 10 passes through the sleeve 9 and is fixedly wrapped around the inner wall of the sleeve 9. At this time, the second threaded tube 16 and the third threaded tube 17 are threadedly connected to complete the wrapping of the traction rope 10, thereby achieving the purpose of facilitating the wrapping of the traction rope 10 and preventing foreign matter from affecting the traction rope 10 and causing errors in the steering angle measurement.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A front axle steering feedback device for a mining dump truck. Features: include: A front axle (1), wherein both ends of the front axle (1) are respectively fixedly connected to a steering knuckle (2), and both ends of the steering knuckle (2) are respectively hinged to a steering arm (3); A turning angle measuring component is arranged at one end of a steering arm (3), and is used to measure the steering angle of the steering arm (3). The turning angle measuring component comprises an articulated shaft (5) fixedly connected to the middle part of one end of the steering arm (3), a first threaded tube (8) is threadedly connected to the bottom of the surface of the articulated shaft (5), a sleeve (9) is rotatably connected to the surface of the first threaded tube (8), and a traction rope (10) is fixedly wound around the inner wall of the sleeve (9), and a pull rope displacement sensor (11) is fixedly connected to the end of the traction rope (10) away from the sleeve (9), and the pull rope displacement sensor (11) is movably arranged on the surface of the front axle (1), so that when the steering knuckle (2) and the steering arm (3) rotate relative to each other, the steering arm (3) drives the traction rope (10) to move corresponding to the pull rope displacement sensor (11) through the articulated shaft (5) in cooperation with the first threaded tube (8) and the sleeve (9).

2. A front axle steering feedback device for a mining dump truck according to claim 1, Features: A wheel hub (4) is rotatably provided at one end of the steering arm (3), and steering tie rods (6) are hingedly connected to the surfaces of the tops of the two articulated shafts (5).

3. A front axle steering feedback device for a mining dump truck according to claim 2, Features: A telescopic rod (7) is hinged on the surface of the bottom of the hinge shaft (5), and the telescopic rod (7) is hinged on the surface of the front axle (1).

4. A front axle steering feedback device for a mining dump truck according to claim 3, Features: A protective shell (12) is fixedly connected to the surface of the pull-wire displacement sensor (11), and the protective shell (12) is hinged at the bottom of the hinged position of the telescopic rod (7) and the front axle (1), and the protective shell (12) is fixedly connected to the surface of the telescopic rod (7) so that the protective shell (12) and the telescopic rod (7) can rotate coaxially.

5. A front axle steering feedback device for a mining dump truck according to claim 4, Features: One end of the protective shell (12) corresponding to the position of the traction rope (10) is fixedly connected to a protective outer tube (13); the inner wall of the protective outer tube (13) is movably sleeved with a protective inner tube (14), and the protective inner tube (14) is movably arranged at one end of the sleeve (9); the traction rope (10) is located inside the protective outer tube (13) and the protective inner tube (14), so that the protective outer tube (13) and the protective inner tube (14) play a protective role on the traction rope (10); the inner wall of the protective outer tube (13) and the surface of the protective inner tube (14) are respectively fixedly connected to a limiting ring (15) to prevent the protective inner tube (14) from detaching from the inner wall of the protective outer tube (13).

6. A front axle steering feedback device for a mining dump truck according to claim 5, Features: One end of the protective inner tube (14) corresponding to the position of the sleeve (9) is fixedly connected to a second threaded tube (16); the inner wall of the second threaded tube (16) is threadedly connected to a third threaded tube (17); and the third threaded tube (17) is fixedly connected to the surface of the sleeve (9), so that the protective inner tube (14) can be connected to the sleeve (9) through the threaded connection between the second threaded tube (16) and the third threaded tube (17).

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