Wheel angle measuring device and wheeled crane

Abstract

A wheel angle measuring device includes an angular displacement sensor and a swing mechanism. The angular displacement sensor is connected to the axle, and its first rotation axis is parallel to the second rotation axis of the hinge point between the axle and the wheel. The swing mechanism is fixedly connected to the detection shaft of the angular displacement sensor and the wheel, respectively, so that the wheel and the detection shaft of the angular displacement sensor rotate at equal angles. This wheel angle measuring device can eliminate the measurement angle error of the angular displacement sensor, accurately measure the wheel angle, effectively improve tire wear imbalance, and enhance the smoothness and safety of vehicle or other wheeled equipment operation. This invention also provides a wheeled crane.

Description

Technical Field

[0001] This invention relates to the field of wheel angle measurement technology for wheeled chassis, and in particular to a wheel angle measuring device and a wheeled crane. Background Technology

[0002] The steering system of the all-terrain crane is a combination of mechanical steering and electric steering. The principle of electric steering is as follows: the first axle is used as the reference axle. An angular displacement sensor is installed on the first axle and each electric steering axle. First, the turning angle of the first axle is measured. Then, the target turning angle of each electric steering axle is set according to the Ackermann principle. When the electric steering axle reaches the target turning angle, it stops steering. At this time, each wheel turns around the same instantaneous steering center.

[0003] Therefore, the measurement accuracy of each angular displacement sensor is particularly important. If there is an error between the measured angle of the first axle and each electronically controlled steering axle and the actual angle, all electronically controlled steering axles and the preceding reference axle, i.e., the mechanical steering axle, will not satisfy the Ackermann principle and will not be able to steer around the same instantaneous steering center. This will lead to uneven tire wear and affect the smoothness of the vehicle's ride. The greater the error between the angular displacement sensor's measured angle and the actual angle, the more severe the tire wear, affecting our driving safety.

[0004] Currently, the measurement mechanism and principle of angular displacement sensors are as follows: Figure 1 and Figure 2 As shown, the angular displacement sensor 1a is vertically mounted on the axle housing. The swing arm 3a of the angular displacement sensor and the connecting rod support 4a welded to the wheel side form a rectangular linkage mechanism. Due to the characteristic that opposite sides of the rectangle are always parallel, the rotation angle of the wheel 2a is obtained by measuring the rotation angle of the angular displacement sensor swing arm 3a.

[0005] However, in reality, wheel 2a rotates around the kingpin axis b1 at an inclination of 6°, while the swing arm 3a of angular displacement sensor 1a rotates around the vertical axis a1. Therefore, the rotation angle of wheel 2a is not equal to the rotation angle of angular displacement swing arm 3a, resulting in a rotation angle error between the measured rotation angle of angular displacement sensor 1a and the actual rotation angle of the wheel. Through calculation, the maximum measurement error of the four-bar linkage of this auxiliary angular displacement sensor is currently 0.7°. This causes all electronically controlled steering axles and the front reference axle, i.e., the mechanical steering axle, to be unable to steer around the same instantaneous steering center, resulting in uneven tire wear and affecting the smoothness of vehicle driving and driving safety. Summary of the Invention

[0006] In view of this, the present invention provides a wheel angle measuring device and a crane, which can eliminate the measurement angle error of the angular displacement sensor, accurately measure the wheel angle, effectively improve tire wear, and enhance the smoothness and safety of vehicle or other wheeled equipment driving.

[0007] A wheel rotation angle measuring device includes an angular displacement sensor and a swing mechanism. The angular displacement sensor is connected to the axle, and the first rotation axis of the angular displacement sensor is parallel to the second rotation axis of the hinge point between the axle and the wheel. The swing mechanism is fixedly connected to the detection shaft of the angular displacement sensor and the wheel, so that the wheel and the detection shaft of the angular displacement sensor rotate at the same angle.

[0008] According to the wheel angle measuring device of the present invention, by reasonably installing the angular displacement sensor, the first rotation axis of the angular displacement sensor is parallel to the second rotation axis of the hinge point between the axle and the wheel. The rotation angle of the wheel is directly, accurately, truly and in real time transmitted to the angular displacement sensor, which can eliminate the measurement angle error of the angular displacement sensor, accurately measure the wheel angle, effectively improve tire wear, improve the smoothness and safety of vehicle or other wheeled equipment, especially under heavy load conditions, it can delay tire wear, extend tire service life, and thus reduce operating costs.

[0009] In one embodiment, the plane containing the swing mechanism is perpendicular to the first rotation axis and the second rotation axis.

[0010] The above configuration ensures that the swing mechanism can accurately achieve synchronous and equal-angle rotation of the wheel and the detection shaft of the angular displacement sensor during the swing process, thereby accurately measuring the wheel rotation angle.

[0011] In one embodiment, the rotation center of the detection shaft, the hinge point between the axle and the wheel, and the hinge point of the swing mechanism form a parallelogram.

[0012] The above-described arrangement of the swing mechanism ensures that the wheel's rotation angle is completely equal to the rotation angle of the angular displacement sensor's detection shaft, thus preventing uneven tire wear.

[0013] In one embodiment, the axle is provided with a mounting part, and the mounting part is provided with an inclined structure. The angular displacement sensor is connected to the inclined structure in a direction parallel to the second rotation axis.

[0014] By setting up a mounting part and an inclined structure with a preset tilt angle on the mounting part, the angular displacement sensor can be installed and fixed on the axle in a direction parallel to the second rotation axis with great convenience.

[0015] In one embodiment, the main body of the mounting part is a cylindrical structure, the outer diameter of the mounting part is smaller than the outer diameter of the angular displacement sensor, and the inclined structure is an inclined surface provided on the top of the cylindrical structure.

[0016] The mounting section described above is simple in structure, easy to manufacture, and can be installed well with the bottom of the angular displacement sensor without affecting the measurement of the angular displacement sensor.

[0017] In one embodiment, the inclined structure is provided with a positioning structure for fixing the angular displacement sensor, and the positioning structure cooperates with the bottom of the angular displacement sensor.

[0018] By further setting a positioning structure on the inclined structure, it is beneficial to further ensure the convenience and reliability of the angular displacement sensor installation, thereby greatly improving the accuracy of the angular displacement sensor measurement.

[0019] In one embodiment, the swing mechanism includes a first swing member, a hinge member, and a second swing member, wherein the first swing member is fixedly connected to the detection shaft of the angular displacement sensor, the second swing member is fixedly connected to the fixing part on the wheel hub, and the two ends of the hinge member are respectively hinged to the first swing member and the second swing member.

[0020] The swing component described above has a simple structure and can easily swing with the rotation of the wheel to ensure the stable and reliable detection process of the angular displacement sensor.

[0021] In one embodiment, the main body of the hinge is a straight rod, and the two ends of the straight rod are respectively provided with a first hinge joint and a second hinge joint. The first hinge joint is hinged to the first swing member, and the second hinge joint is hinged to the second swing member.

[0022] The hinge with the above-mentioned structure is simple in structure, easy to process and manufacture, and simple, stable and reliable in hinge assembly with the first swinging part and the second swinging part.

[0023] In one embodiment, the first hinge joint and the second hinge joint respectively engage with the external thread structure at both ends of the straight rod to adjust the distance between the first hinge joint and the second hinge joint, and the inner sides of the first hinge joint and the second hinge joint are respectively provided with tightening nuts.

[0024] By setting an adjustable first hinge joint and a second hinge joint, the adaptability and reliability of the swing mechanism can be further improved.

[0025] In one embodiment, the fixing part is located near the hinge point between the axle and the wheel, and a connector hinged at the hinge point between the axle and the wheel is fixedly connected to the fixing part.

[0026] By setting a fixing part on the wheel hub to simultaneously fix and connect the second swinging component and the connecting component, the structural stability and reliability of the entire wheel angle measuring device can be greatly improved.

[0027] In one embodiment, the fixing part is a square frame structure.

[0028] The fixing part of the above structure is simple and compact, easy to process and manufacture, and can achieve a stable and reliable fixed connection with the connecting parts and the swing mechanism.

[0029] The wheeled crane of the second aspect of the present invention includes an axle and wheels rotatably connected to the axle, characterized in that it further includes the aforementioned wheel angle measuring device.

[0030] The wheeled crane according to the second aspect of the present invention, having included the aforementioned wheel angle measuring device, possesses all the advantages and technical effects of the aforementioned wheel angle measuring device.

[0031] The wheel angle measuring device and crane provided by this invention can eliminate the measurement angle error of the angular displacement sensor, accurately measure the wheel angle, effectively improve tire wear, enhance the smoothness and safety of vehicles or other wheeled equipment, especially under heavy load conditions, it can delay tire wear, extend tire service life, and thus reduce operating costs. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 and Figure 2 The schematic diagram illustrates the assembly structure of an angle measuring device in the prior art.

[0034] Figure 3 and Figure 4 The schematic diagram illustrates the assembly structure of the angle measuring device according to an embodiment of the present invention.

[0035] Figure 5 The schematic diagram illustrates the overall structure of the hinge in an embodiment of the present invention. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0037] In the description of this invention, unless otherwise explicitly specified and limited, the terms "set up," "equipped with," "installed," "connected," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0038] The terms “upper,” “bottom,” “top,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are used only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0039] The terms “first”, “second”, etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0040] The term “include” or any other variation thereof is intended to cover non-exclusive inclusion, which includes not only the elements listed, but also other elements not expressly listed.

[0041] First Embodiment

[0042] like Figure 3 and Figure 4 As shown, the wheel angle measuring device of this embodiment includes an angular displacement sensor 11 and a swing mechanism 12. The angular displacement sensor 11 is connected to the axle 101. The first rotation axis 11a of the angular displacement sensor 11 is parallel to the second rotation axis L1 of the hinge point A between the axle 101 and the wheel 102. The swing mechanism 12 is fixedly connected to the detection shaft of the angular displacement sensor 11 and the wheel 102, so that the wheel 102 and the detection shaft of the angular displacement sensor 11 rotate at the same angle.

[0043] According to the wheel angle measuring device of the present invention, by reasonably installing the angular displacement sensor 11, the first rotation axis 11a of the angular displacement sensor 11 is parallel to the second rotation axis L1 of the hinge point A between the axle 101 and the wheel 102, so that the rotation angle of the wheel 102 is directly, accurately, truly and in real time transmitted to the angular displacement sensor 11. The working principle of the angular displacement sensor 11 is based on the change of capacitance. The angular displacement sensor 11 is usually composed of two electrodes, one is a fixed electrode and the other is a movable electrode. When the wheel 102 changes angle, the movable electrode will move accordingly, thereby changing the capacitance value. This change of capacitance can be measured by the circuit and converted into an electrical signal output, thereby realizing the accurate measurement of the angle change of the wheel 102.

[0044] Therefore, the wheel angle measuring device according to the present invention can eliminate the measurement angle error of the angular displacement sensor 11, accurately measure the wheel angle 102, effectively improve tire wear, enhance the smoothness and safety of vehicle or other wheeled equipment, especially under heavy load conditions, it can delay tire wear, extend tire service life, and thus reduce operating costs.

[0045] like Figure 3 As shown, specifically in this embodiment, the plane of the swing mechanism 12 is perpendicular to the first rotation axis 11a. This arrangement ensures that the swing mechanism 12 can accurately achieve synchronous, equal-angle rotation between the wheel 102 and the detection axis of the angular displacement sensor 11 during the swing process, thereby accurately measuring the rotation angle of the wheel 102.

[0046] like Figure 4 As shown, in one embodiment, the rotation center B of the detection shaft, the hinge point A between the axle 101 and the wheel 102, and the hinge points C and D of the swing mechanism 12 form a parallelogram. This arrangement of the swing mechanism 12 ensures that the rotation angle of the wheel 102 is completely equal to the rotation angle of the detection shaft of the angular displacement sensor 11, thus preventing uneven wear of the tire 102.

[0047] like Figure 3 As shown, specifically in this embodiment, the axle 101 is provided with a mounting part 13, and the mounting part 13 is provided with an inclined structure 131. The angular displacement sensor 11 is connected to the inclined structure 131 in a direction parallel to the second rotation axis L1. By providing the mounting part 13 and the inclined structure 131 with a preset tilt angle on the mounting part 13, the angular displacement sensor 11 can be installed and fixed on the axle 101 in a direction parallel to the second rotation axis L1 with great convenience. Specifically, in this embodiment, the inclined structure 131 is provided with a positioning structure for fixing the angular displacement sensor 11, and the positioning structure cooperates with the bottom of the angular displacement sensor 11. By further providing a positioning structure on the inclined structure, it is beneficial to further ensure the convenience and reliability of the installation of the angular displacement sensor 11, thereby greatly improving the measurement accuracy of the angular displacement sensor 11.

[0048] like Figure 3 As shown, specifically in this embodiment, the main body of the mounting part 13 is a cylindrical structure, and the outer diameter of the mounting part 13 is smaller than the outer diameter of the angular displacement sensor 11. The inclined structure 131 is an inclined surface provided at the top of the cylindrical structure. The mounting part 13 with the above structure is simple in structure, easy to process and manufacture, and can be well fitted and installed with the bottom of the angular displacement sensor 11, while avoiding affecting the measurement of the angular displacement sensor 11.

[0049] like Figure 4As shown, specifically in this embodiment, the swing mechanism 12 includes a first swing member 121, a hinge member 122, and a second swing member 123. The first swing member 121 is fixedly connected to the detection shaft of the angular displacement sensor 11, and the second swing member 123 is fixedly connected to the fixing part 1021 on the hub of the wheel 102. The two ends of the hinge member 122 are respectively hinged to the first swing member 121 and the second swing member 123. The swing member structure described above is simple and easily swings with the rotation of the wheel to ensure a stable and reliable detection process for the angular displacement sensor. Specifically, in this embodiment, the first swing member 121 and the second swing member 123 are preferably rod-shaped structures, which are simple in structure, easy to manufacture, and provide a stable and reliable swing process.

[0050] like Figure 4 and Figure 5 As shown, specifically in this embodiment, the main body of the hinge member 122 is a straight rod, with a first hinge joint 1221 and a second hinge joint 1222 at each end. The first hinge joint 1221 is hinged to the first swing member 121, and the second hinge joint 1222 is hinged to the second swing member 123. The hinge member with the above-described structure is simple in structure, easy to manufacture, and its hinged assembly with the first swing member 121 and the second swing member 123 is simple, stable, and reliable.

[0051] like Figure 4 and Figure 5 As shown, specifically in this embodiment, the first hinge joint 1221 and the second hinge joint 1222 respectively cooperate with the external thread structures 1223 at both ends of the straight rod to adjust the distance between the first hinge joint 1221 and the second hinge joint 1222. Tightening nuts 1224 are respectively provided on the inner sides of the first hinge joint 1221 and the second hinge joint 1222. By providing the first hinge joint 1221 and the second hinge joint 1222 with adjustable spacing, the adaptability and reliability of the swing mechanism 12 can be further improved.

[0052] like Figure 4 As shown, specifically in this embodiment, the fixing part 1021 is located near the hinge point A between the axle 101 and the wheel 102, and a connecting member 103 is fixedly connected to the fixing part 1021 at the hinge point A between the axle 101 and the wheel 102. By providing the fixing part 1021 on the hub of the wheel 102 and simultaneously fixing the second swing member 123 and the connecting member 103, the structural stability and reliability of the entire wheel angle measuring device can be greatly improved. Specifically, in this embodiment, the fixing part 1021 is a square frame structure. The fixing part of the above structure is simple and compact, easy to process and manufacture, and can achieve a stable and reliable fixed connection with the connecting member 103 and the swing mechanism.

[0053] Second Embodiment

[0054] The wheeled crane of the present invention includes an axle and wheels rotatably connected to the axle, and also includes the wheel angle measuring device described in the first embodiment above.

[0055] The wheeled crane according to the second embodiment of the present invention, having included the wheel angle measuring device described above, possesses all the advantages and technical effects of the aforementioned wheel angle measuring device.

[0056] As can be seen from the above embodiments, the wheel angle measuring device and crane involved in this invention can eliminate the measurement angle error of the angular displacement sensor, accurately measure the wheel angle, effectively improve tire wear, enhance the smoothness and safety of vehicle or other wheeled equipment, especially under heavy load conditions, it can delay tire wear, extend tire service life, and thus reduce operating costs.

[0057] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A wheel rotation angle measuring device, characterized in that, It includes an angular displacement sensor (11) and a swing mechanism (12); wherein, The angular displacement sensor (11) is connected to the axle (101), and the first rotation axis (11a) of the angular displacement sensor (11) is parallel to the second rotation axis (L1) of the hinge point (A) between the axle (101) and the wheel (102); The swing mechanism (12) is fixedly connected to the detection shaft of the angular displacement sensor (11) and the wheel (102) respectively, so that the wheel (102) and the detection shaft of the angular displacement sensor (11) rotate at the same angle; the axle (101) is provided with a mounting part (13), the mounting part (13) is provided with an inclined structure (131), the angular displacement sensor (11) is connected to the inclined structure (131) in a direction parallel to the second rotation axis (L1), and the first rotation axis (11a) is inclined relative to the axis of the axle (101).

2. The wheel angle measuring device as described in claim 1, characterized in that, The plane containing the swing mechanism (12) is perpendicular to the first rotation axis (11a).

3. The wheel angle measuring device as described in claim 2, characterized in that, The rotation center (B) of the detection shaft, the hinge point (A) between the axle (101) and the wheel (102), and the hinge points (C, D) of the swing mechanism (12) form a parallelogram.

4. The wheel angle measuring device as described in any one of claims 1 to 3, characterized in that, The main body of the mounting part (13) is a cylindrical structure. The outer diameter of the mounting part (13) is smaller than the outer diameter of the angular displacement sensor (11). The inclined structure (131) is an inclined surface provided on the top of the cylindrical structure.

5. The wheel angle measuring device as described in any one of claims 1 to 3, characterized in that, The inclined structure (131) is provided with a positioning structure for fixing the angular displacement sensor (11), and the positioning structure cooperates with the bottom of the angular displacement sensor (11).

6. The wheel angle measuring device as described in any one of claims 1 to 3, characterized in that, The swing mechanism (12) includes a first swing member (121), a hinge member (122), and a second swing member (123); wherein, The first swing member (121) is fixedly connected to the detection shaft of the angular displacement sensor (11), the second swing member (123) is fixedly connected to the fixing part (1021) on the hub of the wheel (102), and the two ends of the hinge member (122) are respectively hinged to the first swing member (121) and the second swing member (123).

7. The wheel angle measuring device as described in claim 6, characterized in that, The fixing part (1021) is located near the hinge point (A) between the axle (101) and the wheel (102), and a connector (103) is fixedly connected to the fixing part (1021) at the hinge point (A) between the axle (101) and the wheel (102).

8. The wheel angle measuring device as described in claim 6, characterized in that, The fixing part (1021) is a square frame structure.

9. A wheeled crane, comprising an axle and wheels rotatably connected to said axle, characterized in that, It also includes a wheel angle measuring device as described in any one of claims 1 to 8.

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