Angle sensor device and automatic driving vehicle

Abstract

The present invention discloses a rotation angle sensor device and an automatic driving vehicle, wherein the rotation angle sensor device comprises a housing, a rotation angle sensor, a connection module and a bracket; the rotation angle sensor comprises a sensor inner ring and a sensor outer ring, the connection module comprises a transmission shaft and a connection stop block, the first end of the transmission shaft is mechanically connected to the connection stop block, the second end of the transmission shaft is transmission-connected to the input shaft of the steering gear, the connection stop block is mechanically connected to the sensor inner ring, and the sensor outer ring is fixedly connected to the housing; the first end of the bracket is mechanically connected to the housing, and the second end of the bracket is mechanically connected to the vehicle frame; wherein the transmission shaft and the connection stop block rotate together 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; the rotation angle sensor outputs the rotation angle information of the input shaft of the steering gear according to the rotation angle changes of the sensor inner ring and the sensor outer ring. The rotation angle sensor device provided by the embodiment of the present invention can ensure the flexible adaptability of the rotation angle sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and in particular to a turning angle sensor device and an autonomous driving vehicle. Background Art

[0002] Self-driving vehicles completely subvert the traditional design concept of using people to control the driving of traditional vehicles, and instead allow the car to complete all driving operations by itself.

[0003] The design of autonomous driving vehicles does not have driver-controlled components such as steering wheels, steering columns and pedals. Among them, the angle sensor is an important steering signal collection component in the autonomous driving stage. Traditional models have it integrated with the steering column. After the steering control mechanism disappears, the angle sensor loses its original structural support. Therefore, a new structure is needed to meet the working requirements of the angle sensor of autonomous driving vehicles. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a turning angle sensor device and an autonomous driving vehicle, wherein a connecting module for connecting the turning angle sensor and the steering gear comprises a transmission shaft and a connecting limit block, and the transmission shaft and the connecting module adopt an adjustable mechanical connection method to ensure the flexible adaptability of the turning angle sensor and improve the detection accuracy of the turning angle sensor.

[0005] In a first aspect, an embodiment of the present invention provides a rotation angle sensor device, comprising: a housing, a rotation angle sensor, a connection module and a bracket;

[0006] The rotation angle sensor comprises a sensor inner ring and a sensor outer ring, the connection module comprises a transmission shaft and a connection limit block, the first end of the transmission shaft is mechanically connected to the connection limit block, the second end of the transmission shaft is transmission-connected to the input shaft of the steering gear, the connection limit block is mechanically connected to the sensor inner ring, and the sensor outer ring is fixedly connected to the housing; the rotation angle sensor and the housing are slidably connected to the input shaft of the transmission shaft, and the rotation angle sensor moves along the axis of the transmission shaft;

[0007] The first end of the bracket is mechanically connected to the housing, and the second end of the bracket is mechanically connected to the frame;

[0008] Among them, the transmission shaft and the connecting limit 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; the angle sensor outputs the angle information of the input shaft of the steering gear according to the angle changes of the inner ring of the sensor and the outer ring of the sensor.

[0009] Optionally, the shell includes a plurality of waist-shaped holes, the shell includes a first shell and a second shell, the first shell and the second shell form a sensor body placement cavity for placing the rotation angle sensor; the bracket includes a first bracket and a second bracket, the first bracket is mechanically connected to the first shell, and the second bracket is mechanically connected to the second shell;

[0010] The first shell includes a first shell waist-shaped hole, the second shell includes a second shell waist-shaped hole, the first bracket includes a first bracket waist-shaped hole, and the second bracket includes a second bracket waist-shaped hole;

[0011] The waist-shaped hole of the first shell and the waist-shaped hole of the first bracket are fixedly connected by a first bolt to achieve the fixed setting of the first shell and the first bracket; the waist-shaped hole of the second shell and the waist-shaped hole of the second bracket are fixedly connected by a second bolt to achieve the fixed setting of the second shell and the second bracket.

[0012] Optionally, the first bracket includes a third bracket waist-shaped hole, and the second bracket includes a fourth bracket waist-shaped hole;

[0013] The waist-shaped hole of the third bracket and the frame are fixedly connected by a fourth bolt, so as to realize the fixed setting of the first bracket and the frame; the waist-shaped hole of the fourth bracket and the frame are fixedly connected by a fifth bolt, so as to realize the fixed setting of the second bracket and the frame.

[0014] Optionally, a plurality of waist-shaped holes are used in combination to achieve that the rotation angle sensor and the housing are adjustable in the axial direction of the transmission shaft;

[0015] The plurality of waist-shaped holes include two opposite arc edges and two opposite straight edges;

[0016] The extension direction of the straight edge is equal to the extension direction of the waist-shaped hole, and the extension direction of the plurality of waist-shaped holes is parallel and / or perpendicular to the bottom edge of the first shell.

[0017] Optionally, the transmission shaft includes a safety positioning line.

[0018] Optionally, the sensor inner ring includes a locking structure, the connection limit block includes a locking structure setting cavity, and the locking structure is placed in the locking setting cavity for mechanically connecting the sensor inner ring and the connection limit block.

[0019] Optionally, the rotation angle sensor device further includes a dust seal, and the dust seal is arranged at the connection between the first end of the transmission shaft and the connection limit block.

[0020] Optionally, the rotation angle sensor device further includes a support bearing, and the support bearing is used to carry the connection limit block.

[0021] Optionally, the connection limit block includes a positioning bolt, and the first end of the transmission shaft includes a positioning bolt placement cavity, and the positioning bolt is placed in the bolt placement cavity for mechanically connecting the connection limit block and the transmission shaft.

[0022] In a second aspect, an embodiment of the present invention provides an autonomous driving vehicle, comprising the rotation angle sensor device and the steering gear as described in any one of the first aspects;

[0023] The rotation angle sensor device comprises a connection module, and the input shaft of the steering gear is transmission-connected with the rotation angle sensor via the connection module.

[0024] An embodiment of the present invention provides a rotation angle sensor device, which includes a housing, a rotation angle sensor and a connection module; the rotation angle sensor includes a sensor inner ring and a sensor outer ring, and the rotation angle sensor 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 connected to the input shaft of the steering gear through the connection module, that is, the rotation angle sensor outputs the rotation angle signal of the input shaft of the steering gear. Further, the connection module includes a transmission shaft and a connection stopper, the first end of the transmission shaft is mechanically connected to the connection stopper, the second end of the transmission shaft is connected to the input shaft of the steering gear, the connection stopper is mechanically connected to the sensor inner ring, and the sensor outer ring is fixedly connected to the housing; the transmission shaft and the connection module adopt an adjustable mechanical connection method to ensure that the rotation angle sensor outputs the steering gear angle signal while also having flexible adjustable performance, and further, the housing including the rotation angle sensor is mechanically connected to the frame through the bracket, that is, the rotation angle sensor device is mechanically connected to the frame through its bracket, that is, the split structure of the rotation angle sensor device is more flexible and has a wider range of adaptation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic structural diagram of a rotation angle sensor device provided by an embodiment of the present invention;

[0027] Figure 2 A side view of a rotation angle sensor device provided by an embodiment of the present invention;

[0028] Figure 3 A side view of another rotation angle sensor device provided by an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a first shell provided by an embodiment of the present invention;

[0030] Figure 5 A schematic structural diagram of a second housing provided by an embodiment of the present invention;

[0031] Figure 6 A schematic structural diagram of a first bracket provided in an embodiment of the present invention;

[0032] Figure 7 A schematic structural diagram of a second bracket provided in an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of the structure of a transmission shaft provided by an embodiment of the present invention;

[0034] Fig. 9 for Figure 3 A magnified schematic diagram of area A in the middle. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be fully described below in combination with the drawings in the embodiments of the present invention through specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work fall within the protection scope of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a system, product or device comprising a series of units is not necessarily limited to those steps or units clearly listed, but may include other units that are not clearly listed or inherent to these products or devices.

[0037] Figure 1 A schematic diagram of the structure of a rotation angle sensor device provided by an embodiment of the present invention, Figure 2 A side view of a rotation angle sensor device provided by an embodiment of the present invention, Figure 3A side view of another rotation angle sensor device provided by an embodiment of the present invention, referring to Figures 1 to 3 As shown, an embodiment of the present invention provides a rotation angle sensor device, the rotation angle sensor device 10 includes a housing 100, a rotation angle sensor 200, a connecting module 300 and a bracket 600; the rotation angle sensor 200 includes a sensor inner ring 210 and a sensor outer ring 220, the connecting module 300 includes a transmission shaft 310 and a connecting limit block 320, the first end of the transmission shaft 310 is mechanically connected to the connecting limit block 320, the second end of the transmission shaft 310 is transmission-connected to the input shaft of the steering gear (not specifically shown in the figure), the connecting limit block 320 is mechanically connected to the sensor inner ring 220, and the sensor outer ring 210 is fixed to the housing 100. The steering gear 310 is fixedly connected with the housing 100 and the input shaft of the transmission shaft 310, and the steering angle sensor 200 moves along the axis of the transmission shaft 310; the first end of the bracket 600 is mechanically connected with the housing 100, and the second end of the bracket 600 is mechanically connected with the vehicle frame (not specifically shown in the figure); wherein the transmission shaft 310 and the connection limit 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 steering angle sensor 200 outputs the steering angle information of the input shaft of the steering gear according to the changes in the angles of the sensor inner ring 210 and the sensor outer ring 220.

[0038] The steering angle sensor device 10 can be used in an autonomous driving vehicle, and is connected to the input shaft of the steering gear to provide an accurate steering angle signal of the input shaft of the steering gear. For example, the steering sensor device 10 can be used in L4 autonomous driving technology, which means that the automatic system can complete driving tasks and monitor the driving environment under certain environments and specific conditions. At this stage, within the scope of the autonomous driving, all driving-related tasks and drivers and passengers are no longer related, and the embodiments of the present invention do not specifically limit this.

[0039] Furthermore, the rotation angle sensor device 10 includes a housing 100, a rotation angle sensor 200, and a connection module 300, etc., wherein the rotation angle sensor 200 includes a sensor inner ring 210 and a sensor outer ring 220, and the housing 100 is used to provide a space to carry the rotation angle sensor 200, and the sensor outer ring 220 is fixedly connected to the housing 100, that is, the sensor outer ring 220 is fixed. The sensor inner ring 210 is connected to the input shaft of the steering gear through 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 with the input shaft of the steering gear, and the sensor outer ring 220 is fixed. Based on the change of the relative rotation angle between the sensor inner ring 210 and the sensor outer ring 220, the rotation angle sensor 200 outputs the rotation angle information of the steering gear, so as to judge the motion state of the input shaft of the steering gear.

[0040] Further, the connection module 300 includes a transmission shaft 310 and a connection stopper 320. The first end of the transmission shaft 310 is mechanically connected to the connection stopper 320, that is, the transmission shaft 310 and the connection stopper 320 are separate structures, not an integrally arranged connection module 300. The second end of the transmission shaft 310 is transmission-connected to the input shaft of the steering gear, that is, the rotation angle of the input shaft of the steering gear is transmitted through the transmission shaft 310, and the angle sensor 200 is arranged on the outside of the steering gear, and the angle information of the input shaft of the steering gear can be accurately provided through the angle sensor 200. In addition, the connection stopper 320 is mechanically connected to the sensor inner ring 220, and the rotation angle transmitted by the transmission shaft 310 can be applied to the sensor inner ring 210 through the connection stopper 320, and the rotation angle information of the input shaft of the steering gear is determined through the difference in the rotation angle 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 limit block 320, and the connection module 300 is not integrally arranged with the housing 100 and the rotation angle sensor 200. By setting the connection module 300 and the connection module 300 being an independent setting structure, the position adjustment of the connection module 300 and the rotation angle sensor 200 can be achieved, that is, the position setting is flexible, has adjustable conditions, and is adapted to various scenarios.

[0041] 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 frame, that is, the housing 100 with the rotation angle sensor 200 is fixed to the frame through the bracket 600. In addition, by providing the bracket 600, it is reflected that the bracket 600 and the housing 100 are not an integral structure, ensuring that the setting of the rotation angle sensor device 10 is more flexible, more adjustable, and more adaptable.

[0042] It should be noted that Figure 2 and Figure 3 for Figure 1 Two views of the rotation angle sensor device 10 are provided, namely a front view and a rear view, namely Figure 1 , Figure 2 and Figure 3 The same rotation angle sensor device 10 is shown in three different drawing modes for easier understanding.

[0043] In summary, an embodiment of the present invention provides a rotation angle sensor device, in which the rotation angle sensor is connected to the input shaft of the steering gear through a connection module, that is, the rotation angle sensor outputs the rotation angle signal of the steering gear. Furthermore, the connection module includes a transmission shaft and a connection limit block, the first end of the transmission shaft is mechanically connected to the connection limit block, the second end of the transmission shaft is connected to the input shaft of the steering gear, the connection limit block is mechanically connected to the inner ring of the sensor, and the outer ring of the sensor is fixedly connected to the housing; the transmission shaft and the connection module adopt an adjustable mechanical connection method to ensure that the rotation angle sensor outputs the steering gear angle signal, and also has flexible adjustable performance, and the adaptation range is wider.

[0044] Figure 4 A schematic diagram of the structure of a first shell provided by an embodiment of the present invention, Figure 5 A schematic diagram of the structure of a second housing provided by an embodiment of the present invention, Figure 6 A schematic diagram of the structure of a first bracket provided in an embodiment of the present invention, Figure 7 A schematic diagram of the structure of a second bracket provided in an embodiment of the present invention, referring to Figures 1 to 8 As shown, the housing 100 includes a plurality of waist-shaped holes, and 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 placement cavity for placing the rotation angle sensor 200; the bracket 6000 also includes a first bracket 610 and a second bracket 620. The first bracket 610 is mechanically connected to the first housing 110, and the second bracket 620 is mechanically connected to the second housing 120; the first housing 110 includes a first housing waist-shaped hole 110A, and the second housing 120 includes a second The shell waist-shaped hole 120A, the first bracket 610 includes a first bracket waist-shaped hole 610A, and the second bracket 620 includes a second bracket waist-shaped hole 620A; the first shell waist-shaped hole 110A and the first bracket waist-shaped hole 610A are fixedly connected by a first bolt 151, which is used to realize the fixed setting of the first shell 110 and the first bracket 610; the second shell waist-shaped hole 120A and the second bracket waist-shaped hole 620A are fixedly connected by a second bolt 161, which is used to realize the fixed setting of the second shell 120 and the second bracket 620.

[0045] 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 placement 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 to ensure the fixed connection between the sensor outer ring 220 and the housing 100. Further, the bracket 600 also includes a first bracket 610 and a second bracket 620, and the first bracket 610 and the second bracket 620 are provided to support the first housing 110, the second housing 120 and the rotation angle sensor 200 located in the first housing 110 and the second housing 120.

[0046] Furthermore, the first shell 110 includes a first shell waist-shaped hole 110A, the second shell 120 includes a second shell waist-shaped hole 120A, the first bracket 610 includes a first bracket waist-shaped hole 610A, and the second bracket 620 includes a second bracket waist-shaped hole 620A. Compared with the existing circular holes, the waist-shaped holes mentioned above have extra space for position adjustment. Specifically, the first shell waist-shaped hole 110A and the first bracket waist-shaped hole 610A are fixedly connected by a first bolt 151, and a first nut 152 is provided on the first bolt 151 to achieve the fixed setting of the first shell 110 and the first bracket 610. Based on the shapes of the first shell waist-shaped hole 110A and the first bracket waist-shaped hole 610A, the positions of the first shell 110 and the first bracket 610 can be adjusted before being fixed by the first nut 152. Similarly, the second housing waist-shaped hole 120A and the second bracket waist-shaped hole 620A are fixedly connected by the second bolt 161, and a second nut 162 is arranged on the second bolt 161 to realize the fixed setting of the second housing 120 and the second bracket 620. Based on the shapes of the second bracket waist-shaped hole 140A and the second bracket waist-shaped hole 620A, the positions of the second housing 120 and the second bracket 620 can be adjusted before being fixed by the second nut 162. This ensures that the tolerance of the rotation angle sensor device 10 is adapted during assembly, ensures better coordination of various structures, and improves the accuracy of the rotation angle information obtained by the rotation angle sensor device 10.

[0047] Optional, reference Figures 1 to 7 As shown, the first shell 110 may include a plurality of third bolts 153, and the second shell 120 may include a plurality of third through holes 163. By placing the third bolts 153 in the third through holes 163, a stable connection between the first shell 110 and the second shell 120 is ensured. Furthermore, in order to ensure a stable setting of the rotation angle sensor device 10, bolts, through holes, nuts, etc. may be added at different positions of the shell 100. The embodiment of the present invention does not make specific limitations on this.

[0048] For further reference, Figures 1 to 7 As shown, the first bracket 610 includes a third bracket waist-shaped hole 610B, and the second bracket 620 includes a fourth bracket waist-shaped hole 620B; the third bracket waist-shaped hole 610B and the frame (not specifically shown in the figure) are fixedly connected by a fourth bolt 171, which is used to achieve the fixed setting of the first bracket 610 and the frame; the fourth bracket waist-shaped hole 620B and the frame are fixedly connected by a fifth bolt (not specifically shown in the figure, only the placement area, i.e., area C, is shown), which is used to achieve the fixed setting of the second bracket 620 and the frame.

[0049] Specifically, the first bracket 610 further includes a third bracket waist-shaped hole 610B, and the second bracket 620 includes a fourth bracket waist-shaped hole 620B. The third bracket waist-shaped hole 610B and the fourth bracket waist-shaped hole 620B are used to achieve fixed connection with the frame, and determine the setting position of the rotation angle sensor device 10. Further, the third bracket waist-shaped hole 610B and the frame are fixedly connected by a fourth bolt 171, and a corresponding nut 172 is fixed on the fourth bolt 171 to achieve the fixed setting of the first bracket 610 and the frame. Based on the shape of the third bracket waist-shaped hole 610B, the position of the first bracket 610 and the frame can be adjusted before being fixed by the corresponding nut 172. Similarly, the waist-shaped hole 620B of the fourth bracket and the frame are fixedly connected by the fifth bolt, and a corresponding nut is set on the frame bolt to realize the fixed setting of the second bracket 620 and the frame. Based on the shape of the waist-shaped hole 620B of the fourth bracket, before being fixed by the corresponding nut, the position of the second bracket 140 and the frame can be adjusted, thereby ensuring that the tolerance is adapted when the angle sensor device 10 is assembled, ensuring better coordination of various structures, and improving the accuracy of the angle information obtained by the angle sensor device 10. It should be noted that the fourth bolt 171 and the fifth bolt 172 can be bolts configured on the angle sensor device 10, or they can be bolts configured on the frame, and the embodiment of the present invention does not specifically limit this. In addition, by adjusting the fixation of the first bracket 610 and the second bracket 620 to the frame respectively, that is, from two points, it is ensured that the angle sensor device 10 is more stably fixed on the frame, thereby ensuring the accuracy and stability of the angle sensor device 10.

[0050] Continue to refer Figure 4 and Figure 5 As shown, multiple waist-shaped holes are used in combination to achieve the adjustment of the rotation angle sensor 200 and the shell 100 in the axial direction of the transmission shaft 310; the multiple waist-shaped holes include two opposite arc edges and two opposite straight edges; the extension direction of the straight edges is equal to the extension direction of the waist-shaped holes, and the extension direction of the multiple waist-shaped holes is parallel and / or perpendicular to the bottom edge of the first shell 110.

[0051] Specifically, Figure 5 In the description, the waist-shaped hole 110 of the first shell is taken as an example. The extension direction of the straight edge in the waist-shaped hole 110 of the first shell is parallel to the bottom edge D of the first shell 110. Based on the shape of the waist-shaped hole 110 of the first shell, when the first shell 110 and the first bracket 130 are fixed, they can be moved left and right along the extension direction of the straight edge to ensure that they can be adjusted before the rotation angle sensor device 10 is fixed. Furthermore, the extension direction of the waist-shaped hole can also be perpendicular to the bottom edge of the first shell 110. Furthermore, the extension directions of multiple waist-shaped holes can also be different, that is, the direction of position adjustment of the rotation angle sensor device 10 is enriched, and the embodiment of the present invention does not specifically limit this.

[0052] Figure 8 A schematic diagram of the structure of a transmission shaft provided by an embodiment of the present invention, referring to Figure 8 As shown, the drive shaft 310 includes a safety positioning line 312 .

[0053] Specifically, the rotation angle sensor device 10 includes a plurality of waist-shaped holes, which can ensure that the rotation angle sensor device 10 can be adjusted in multiple directions and angles before being fixed, thereby ensuring that the setting of the rotation angle sensor device 10 is flexible. Figure 8 As shown, the transmission shaft 310 further includes a safety positioning line 312 , and the safety positioning line 312 is used to ensure the accuracy of adjustment of the rotation angle sensor device 10 .

[0054] Exemplarily, when the connecting module 300, the angle sensor 200 and the housing 100 are connected, if the safety positioning line 312 of the transmission shaft 310 is not exposed, it proves that the matching relationship between the connecting module 300, the angle sensor 200 and the housing 100 is correct; if the safety positioning line 312 of the transmission shaft 310 is exposed, it proves that the matching relationship between the connecting module 300, the angle sensor 200 and the housing 100 is incorrect, and the matching relationship can be adjusted based on the safety positioning line 312 to ensure that the angle sensor 200 obtains accurate angle information.

[0055] Fig. 9 for Figure 3 Enlarged schematic diagram of area A, see Fig. 9 As shown, the sensor inner ring 210 includes a locking structure 210A, and the connection limit block 320 includes a locking structure setting cavity 320A. The locking structure 210A is placed in the locking setting cavity 320A for mechanically connecting the sensor inner ring 210 and the connection limit block 320.

[0056] Specifically, refer to Fig. 9 As shown, the sensor inner ring 210 includes a locking structure 210A, the connection limit block 320 includes a locking structure setting cavity 320A, the locking structure 210A is placed in the locking setting cavity 320A, and when the connection limit block 320 rotates according to the transmission shaft 310, the locking structure 210A is driven to rotate through the locking setting cavity 320A, thereby driving the sensor inner ring 210 to rotate. By providing the locking structure 210A and the locking setting cavity 320A, the rotation effect of the sensor inner ring 210 is ensured, and wear on the sensor inner ring 210 is avoided, thereby ensuring the working accuracy and stability of the angle sensor device 10.

[0057] Furthermore, the sensor inner ring 210 and the connecting limit block 320 can achieve synchronous rotation through the locking structure 210A and the locking setting cavity 320, and the locking structure 210A and the locking setting cavity 320 can achieve movement along the axial direction of the transmission shaft 310, that is, the sensor inner ring 210 and the connecting limit block 320 can achieve spatial adjustment, further enriching the adjustment direction and adjustment angle of the angle sensor device 10, and realizing a more flexible setting method of the angle sensor device 10.

[0058] Continue to refer Figure 1 and Figure 5 As shown, the rotation angle sensor device 10 further includes a dust seal 400 , which is disposed at the connection between the first end of the transmission shaft 310 and the connection limit block 320 .

[0059] Specifically, the rotation angle sensor device 10 further includes a dust seal 400. The dust seal 400 can be provided to prevent the external environment from affecting the rotation angle change of the rotation angle sensor 200 and affecting the judgment of the input shaft angle information of the steering gear.

[0060] For further reference, Figure 3 As shown, the rotation angle sensor device 10 further includes a support bearing 500 , and the support bearing 500 is used to support and connect the limit block 320 .

[0061] Specifically, the rotation angle sensor device 10 further includes a support bearing 500, which is used to provide support force for the sensor inner ring 210 and the connection limit block 320, to ensure the stability of the overall structure of the rotation angle sensor device 10, and to ensure that the rotation angle sensor 200 accurately obtains the rotation angle information of the input shaft of the steering gear. Furthermore, the support bearing 500 can also ensure the coaxiality of the transmission shaft 310, ensure the stability of the transmission shaft 310 when rotating, and thus ensure the working accuracy and stability of the rotation angle sensor 10.

[0062] Continue to refer Figure 8 As shown, the connection limit block 320 includes a positioning bolt 321 , and the first end of the transmission shaft 310 includes a positioning bolt placement cavity 311 . The positioning bolt 321 is placed in the bolt placement cavity 311 for mechanically connecting the connection limit block 320 and the transmission shaft 310 .

[0063] The connection limit block 320 includes a positioning bolt 321, and the transmission shaft 310 includes a positioning bolt placement cavity 311. Figure 8As shown, by placing the positioning bolt 321 in the bolt placement cavity 311, the mechanical connection between the connection limit block 320 and the transmission shaft 310 is achieved, ensuring that the transmission shaft 310 can transmit the rotation angle information of the input shaft of the steering gear to the connection limit block 320. In addition, there are threads in the bolt placement cavity 311 included in the first end of the transmission shaft 310, ensuring that the positioning bolt 321 is stably placed in the bolt placement cavity 311, and the depth of the positioning bolt 321 embedded in the bolt placement cavity 311 can be adjusted based on different scenarios, that is, the transmission shaft 321 can be adjusted in depth along its extension direction.

[0064] Based on the same inventive concept, an embodiment of the present invention further provides an autonomous driving vehicle, which includes a rotation angle sensor device and a steering gear provided in an embodiment of the present invention, and the input shaft of the steering gear is connected to the rotation angle sensor device through a connecting module. The rotation angle sensor provided in an embodiment of the present invention has the technical effects of the technical solution in any of the above embodiments, and the structures identical or corresponding to the above embodiments and the explanation of terms are not repeated here.

[0065] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A rotation angle sensor device, characterized in that: include: Housing, rotation angle sensor, connection module and bracket; The rotation angle sensor comprises a sensor inner ring and a sensor outer ring, the connection module comprises a transmission shaft and a connection limit block, the first end of the transmission shaft is mechanically connected to the connection limit block, the second end of the transmission shaft is transmission-connected to the input shaft of the steering gear, the connection limit block is mechanically connected to the sensor inner ring, and the sensor outer ring is fixedly connected to the housing; the rotation angle sensor and the housing are slidably connected to the input shaft of the transmission shaft, and the rotation angle sensor moves along the axis of the transmission shaft; The first end of the bracket is mechanically connected to the housing, and the second end of the bracket is mechanically connected to the frame; The transmission shaft and the connection limit block rotate together with the input shaft of the steering gear, and drive the inner ring of the sensor to rotate, while the outer ring of the sensor is fixed and does not rotate; the angle sensor outputs the angle information of the input shaft of the steering gear according to the angle changes of the inner ring of the sensor and the outer ring of the sensor; Wherein, the transmission shaft and the connection limit block are separately arranged; The connection limit block includes a positioning bolt, and the first end of the transmission shaft includes a positioning bolt placement cavity, and the positioning bolt is placed in the bolt placement cavity for mechanically connecting the connection limit block and the transmission shaft; The sensor inner ring includes a locking structure, the connection limit block includes a locking structure setting cavity, and the locking structure is placed in the locking structure setting cavity for mechanically connecting the sensor inner ring and the connection limit block; The housing comprises a plurality of waist-shaped holes, the housing comprises a first housing and a second housing, 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 to the first housing, and the second bracket is mechanically connected to the second housing; The first shell includes a first shell waist-shaped hole, the second shell includes a second shell waist-shaped hole, the first bracket includes a first bracket waist-shaped hole, and the second bracket includes a second bracket waist-shaped hole; The waist-shaped hole of the first shell and the waist-shaped hole of the first bracket are fixedly connected by a first bolt to achieve the fixed setting of the first shell and the first bracket; the waist-shaped hole of the second shell and the waist-shaped hole of the second bracket are fixedly connected by a second bolt to achieve the fixed setting of the second shell and the second bracket.

2. The rotation angle sensor device according to claim 1, characterized in that: The first bracket includes a third bracket waist-shaped hole, and the second bracket includes a fourth bracket waist-shaped hole; The waist-shaped hole of the third bracket and the frame are fixedly connected by a fourth bolt, so as to realize the fixed setting of the first bracket and the frame; the waist-shaped hole of the fourth bracket and the frame are fixedly connected by a fifth bolt, so as to realize the fixed setting of the second bracket and the frame.

3. The rotation angle sensor device according to claim 2, characterized in that: A plurality of waist-shaped holes are used in combination to achieve that the rotation angle sensor and the housing can be adjusted in the direction of the axis of the transmission shaft; The plurality of waist-shaped holes include two opposite arc edges and two opposite straight edges; The extension direction of the straight edge is equal to the extension direction of the waist-shaped hole, and the extension direction of the plurality of waist-shaped holes is parallel and / or perpendicular to the bottom edge of the first shell.

4. The rotation angle sensor device according to claim 1, characterized in that: The transmission shaft includes a safety positioning line.

5. The rotation angle sensor device according to claim 1, characterized in that: The rotation angle sensor device further comprises a dust seal, which is arranged at a connection between the first end of the transmission shaft and the connection limit block.

6. The rotation angle sensor device according to claim 1, characterized in that: The rotation angle sensor device further comprises a support bearing, and the support bearing is used for carrying the connection limit block.

7. An automatic driving car, characterized in that: Comprising the rotation angle sensor device according to any one of claims 1 to 6 and the steering gear; The rotation angle sensor device comprises a connection module, and the input shaft of the steering gear is transmission-connected with the rotation angle sensor via the connection module.

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