Steering angle measuring device for articulated engineering machinery and measuring method thereof

Abstract

The invention belongs to the technical field of engineering vehicles, and particularly discloses a steering angle measuring device for hinged engineering machinery and a measuring method of the steering angle measuring device. The device comprises a measuring assembly used for measuring the length of a driving path and an elastic supporting assembly used for enabling the measuring device to make contact with a front frame, the measuring assembly is electrically connected with a controller used for processing driving path data and generating steering angle data, and the device is easy to install and maintain and high in reliability; the measuring wheel of the measuring device is always in contact with the front frame under the action of the elastic supporting assembly, during steering, the front frame drives the measuring wheel to rotate, the rotary encoder collects the rotation angle and transmits the rotation angle to the controller, the controller converts the rotation angle into the steering angle through a conversion algorithm, the detection method is high in stability and reliability, and high measuring precision can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering vehicles, and in particular relates to a steering angle measuring device for articulated engineering machinery and a measuring method thereof. Background Art

[0002] In the field of construction machinery, loaders and rollers, as essential infrastructure equipment, are widely used in highway, railway, port, earthwork, water conservancy and hydropower construction, and mining and energy development. With the rise of intelligent driving technology, unmanned and intelligent applications of construction machinery are appearing in an increasing number of fields. Loaders, rollers, and other construction machinery often feature articulated front and rear bodies. These unmanned and intelligent applications require a device that can accurately capture vehicle steering angle information.

[0003] For construction machinery with articulated vehicle bodies, the steering angle detection device is typically installed above and coaxially with the pivot pin. During steering, the front and rear vehicle bodies experience relative offset and pitch angles at the hinge, causing the pivot pin to misalign. This misalignment can also cause the steering angle detection device to misalign along with the pivot pin, potentially damaging the device. Another type of steering angle detection device is installed inside a hydraulic cylinder. Sensors measure the linear displacement of the cylinder piston and then use geometric transformations to deduce the actual wheel angle. This measurement method is prone to computational errors, is complex to install, is costly, has poor environmental adaptability, and is difficult to maintain and replace. Summary of the Invention

[0004] To address the problem that the reliability and maintainability of existing methods and devices for obtaining the steering angle of engineering vehicles need to be improved, a steering angle measurement device and measurement method for articulated engineering machinery are proposed. The present invention provides the following technical solutions: A steering angle measuring device for articulated engineering machinery, wherein the front and rear frames of the applicable vehicle are rotatably connected via a pin shaft, comprises a measuring assembly for measuring the length of a travel path and an elastic support assembly for enabling the measuring device to contact the front frame. The measuring assembly is electrically connected to a controller for processing travel path data and generating steering angle data.

[0005] Preferably, the measuring assembly includes a first bearing seat, a second bearing seat and a measuring wheel rotatably mounted on the first bearing seat and the second bearing seat through bearings, and a rotary encoder is mounted on one side of the measuring wheel.

[0006] Preferably, an encoder mounting seat is installed on the first bearing seat, the rotary encoder is fixedly mounted on the encoder mounting seat, and a rear end cover is installed on the outer side of the second bearing seat.

[0007] Preferably, sealing rings are installed in the first bearing seat and the second bearing seat.

[0008] Preferably, an elastic retaining ring is installed outside the bearing.

[0009] Preferably, the elastic support assembly includes an upper guide sleeve for connecting to the rear frame, a lower guide sleeve for connecting to the measuring assembly, and a spring for providing elastic support, and the spring is arranged between the upper guide sleeve and the lower guide sleeve.

[0010] Preferably, two elastic support components are installed and connected on the first bearing seat, and two elastic support components are installed and connected on the second bearing seat, and the four elastic support components are arranged in a rectangular shape.

[0011] A method for measuring the steering angle of articulated engineering machinery is based on a steering angle measuring device for articulated engineering machinery. The measuring wheel of the measuring device is always in contact with the front frame under the action of an elastic support component. When steering, the front frame drives the measuring wheel to rotate, and a rotary encoder collects the rotation angle and transmits it to a controller. The controller converts the rotation angle into a steering angle through a conversion algorithm.

[0012] The conversion algorithm is: When turning left: ; When turning right: ; in, is the steering angle, that is, the angle the vehicle turns; The rotation angle of the measuring wheel acquired by the rotary encoder; The distance from the contact point between the measuring wheel and the front frame to the pin axis; is the radius of the measuring wheel.

[0013] Preferably, the installation of the steering angle measuring device for articulated engineering machinery includes the following steps: S1. Install the sealing rings on both sides of the measuring wheel; S2. Install the first bearing seat and the second bearing seat; S3. Install bearings and circlips on both sides; S4. Install and fix the rotary encoder and encoder mounting base; S5, connecting the first bearing seat and the second bearing seat to the elastic support seat; S6. Install the elastic support seat on the rear frame through the fixing bracket and make the measuring wheel contact the front frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The measuring assembly is fixed to the rear frame, and the measuring wheel is in contact with the front frame. When the front frame rotates, the measuring wheel rotates. The rotary encoder can detect the rotation angle of the measuring wheel. Based on the rotation angle, the arc length of the measuring wheel can be calculated. This arc length is the arc length of the front frame rotation, and the angle of the front frame rotation can be calculated. This realizes the direct conversion of the rotation angle to the steering angle, eliminates the cumulative error of traditional measurement methods, and significantly reduces the difficulty of data processing. 2. The measuring wheel is dynamically balanced and equipped with a high-resolution rotary encoder to accurately capture minute angle changes. Combined with a rubberized surface design, it effectively reduces the risk of slippage. The elastic support assembly uses four sets of rectangular springs or gas springs to ensure that the measuring wheel always adheres to the front frame with constant pressure, eliminating contact gaps caused by frame torsion or pitch, significantly reducing steering angle measurement errors. 3. The overall structure is simple and easy to install and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention; Figure 2 is a schematic cross-sectional structural diagram of the measurement assembly of the present invention; Figure 3 is a schematic cross-sectional structural diagram of the elastic support assembly of the present invention; Figure 4 It is a schematic diagram of the corresponding relationship between arc length and angle; Figure 5 This is a diagram showing the relationship between the rotation angle and steering angle of the rotary encoder; In the accompanying drawings, 1. Rear frame; 2. Fixed bracket; 3. Elastic support assembly; 31. Upper guide sleeve; 32. Spring; 33. Lower guide sleeve; 4. Measuring assembly; 41. First bearing seat; 42. Second bearing seat; 43. First screw; 44. Rotary encoder; 45. Encoder mounting seat; 46. Second screw; 47. Elastic retaining ring; 48. Bearing; 49. Sealing ring; 410. Measuring wheel; 411. Rear end cover; 412. Third screw; 5. Front frame; 6. Pin. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. The directional words mentioned in the following embodiments, such as "up", "down", "left" and "right", etc., are only referenced to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0017] like Figure 1-3As shown, a steering angle measuring device for articulated engineering machinery is shown. The front frame 5 and the rear frame 1 of the applicable vehicle are rotatably connected via a pin shaft 6. The device includes a measuring component 4 for measuring the length of a driving path and an elastic support component 3 for making the measuring device contact the front frame 5. The measuring component 4 is electrically connected to a controller for processing driving path data and generating steering angle data. The device has a simple structure and is easy to install and maintain.

[0018] Specifically, the measuring assembly 4 includes a first bearing seat 41, a second bearing seat 42 and a measuring wheel 410 rotatably mounted on the first bearing seat 41 and the second bearing seat 42 through a bearing 48. A rotary encoder 44 is installed on one side of the measuring wheel 410. The first bearing seat 41 and the second bearing seat 42 provide stable support. The measuring wheel 410 has been dynamically balanced and can achieve extremely small angular resolution in conjunction with the high-resolution rotary encoder 44.

[0019] Furthermore, the surface of the measuring wheel 410 is provided with textures and is made of rubber material, thereby reducing the risk of the measuring wheel 410 slipping when rotating.

[0020] Specifically, the rotary encoder 44 includes a rotating shaft for obtaining the rotation angle. A mounting hole is provided on one side of the measuring wheel 410. The mounting hole is coaxially arranged with the measuring wheel 410. The rotating shaft is inserted into the mounting hole to achieve the cooperation with the pin shaft 6. The rotating shaft rotates as the measuring wheel 410 rotates.

[0021] Specifically, an encoder mounting seat 45 is mounted on the first bearing seat 41 , the rotary encoder 44 is fixed on the encoder mounting seat 45 , and a rear end cover 411 is mounted on the outer side of the second bearing seat 42 to improve the reliability and stability of the measuring wheel 410 .

[0022] Specifically, sealing rings 49 are installed in the first bearing seat 41 and the second bearing seat 42 to resist oil erosion, eliminate intruding dust particles, and extend the service life of the bearing 48.

[0023] Specifically, an elastic retaining ring 47 is installed outside the bearing 48 to provide continuous preload force and effectively prevent the bearing 48 from axial movement.

[0024] Specifically, the elastic support assembly 3 includes an upper guide sleeve 31 for connecting to the rear frame 1, a lower guide sleeve 33 for connecting to the measuring assembly 4, and a spring 32 for providing elastic support. The spring 32 is arranged between the upper guide sleeve 31 and the lower guide sleeve 33. The upper guide sleeve 31 and the lower guide sleeve 33 are coaxially arranged to jointly ensure that the measuring wheel 410 always fits the front frame 5 with a constant pressure. In another embodiment, the elastic support assembly 3 directly adopts a gas spring.

[0025] Specifically, two elastic support assemblies 3 are installed and connected to the first bearing seat 41, and two elastic support assemblies 3 are installed and connected to the second bearing seat 42. The four elastic support assemblies 3 are arranged in a rectangular shape and all provide elastic force, thereby providing a stable preload force, so that the measuring wheel 410 applies stable pressure to the front frame 5 during movement.

[0026] The measuring assembly 4 is fixed to the rear frame 1, with the measuring wheel 410 in contact with the front frame 5. Rotation of the front frame 5 drives the measuring wheel 410 in rotation. The rotary encoder 44 detects the rotation angle of the measuring wheel 410. Based on the rotation angle, the arc length of the measuring wheel 410 can be calculated. This arc length is the arc length of the front frame 5, and thus the angle of rotation of the front frame 5 can be calculated. During operation, due to the hinged connection between the front and rear vehicle bodies, relative torsion and pitch angles are inevitable. The elastic support assembly 3 ensures that the measuring wheel 410 maintains contact with the front frame 5, significantly reducing steering angle measurement errors.

[0027] Cooperating with its assembly method, the stability and reliability of the overall structure can be effectively improved. The assembly steps are as follows: S1. Install the sealing rings 49 on both sides of the measuring wheel 410; S2, install the first bearing seat 41 and the second bearing seat 42; S3, install bearings 48 and circlips 47 on both sides; S4, installing and fixing the rotary encoder 44 and the encoder mounting base 45; Use the first screw 43 to install the rotary encoder 44 on the encoder mounting base 45, and then insert the rotating shaft of the rotary encoder 44 into the mounting hole of the central axis of the measuring wheel 410; finally, use the second screw 46 to install the encoder mounting base 45 on the end face of the first bearing seat 41, and install and fix the rear end cover 411 on the other side with the third screw 412.

[0028] S5, connecting the first bearing seat 41 and the second bearing seat 42 to the elastic support seat; S6 . Install the elastic support seat on the rear frame 1 through the fixing bracket 2 , and ensure that the measuring wheel 410 contacts the front frame 5 .

[0029] A method for measuring the steering angle of articulated engineering machinery is based on a steering angle measuring device for articulated engineering machinery. The measuring wheel 410 of the measuring device is always in contact with the front frame 5 under the action of the elastic support component 3. When turning, the front frame 5 drives the measuring wheel 410 to rotate, and the rotary encoder 44 collects the rotation angle and transmits it to the controller. The controller converts the rotation angle into a steering angle through a conversion algorithm.

[0030] The conversion algorithm is: When turning left: ; When turning right: ; in, is the steering angle, that is, the angle the vehicle turns; The rotation angle of the measuring wheel 410 acquired by the rotary encoder 44; is the distance from the contact point between the measuring wheel 410 and the front frame 5 to the pin 6; To measure the radius of the wheel 410, the angle of rotation of the front frame 5 can be directly calculated with high measurement accuracy, such as Figure 4 and Figure 5 As shown, the rotation angle and the steering angle are linearly related, the data processing difficulty is low, the reliability is high, and its controller can directly use the vehicle controller VECU.

Claims

1. A steering angle measuring device for articulated engineering machinery, wherein the front frame (5) and the rear frame (1) of the vehicle are rotatably connected via a pin (6), and the device is characterized in that: The invention comprises a measuring component (4) for measuring the length of a driving path and an elastic support component (3) for making the measuring device contact a front frame (5); the measuring component (4) is electrically connected to a controller for processing driving path data and generating steering angle data.

2. The steering angle measuring device for articulated engineering machinery according to claim 1, characterized in that: The measuring assembly (4) comprises a first bearing seat (41), a second bearing seat (42), and a measuring wheel (410) rotatably mounted on the first bearing seat (41) and the second bearing seat (42) via a bearing (48), wherein a rotary encoder (44) is mounted on one side of the measuring wheel (410).

3. The steering angle measuring device for articulated engineering machinery according to claim 2, characterized in that: An encoder mounting seat (45) is mounted on the first bearing seat (41), a rotary encoder (44) is mounted and fixed on the encoder mounting seat (45), and a rear end cover (411) is mounted on the outer side of the second bearing seat (42).

4. The steering angle measuring device for articulated engineering machinery according to claim 3, characterized in that: Sealing rings (49) are installed in the first bearing seat (41) and the second bearing seat (42).

5. The steering angle measuring device for articulated engineering machinery according to claim 3, characterized in that: An elastic retaining ring (47) is installed outside the bearing (48).

6. The steering angle measuring device for articulated engineering machinery according to claim 2, characterized in that: The elastic support assembly (3) comprises an upper guide sleeve (31) for connecting to the rear frame (1), a lower guide sleeve (33) for connecting to the measuring assembly (4), and a spring (32) for providing elastic support, wherein the spring (32) is arranged between the upper guide sleeve (31) and the lower guide sleeve (33).

7. The steering angle measuring device for articulated engineering machinery according to claim 6, characterized in that: Two elastic support assemblies (3) are mounted and connected to the first bearing seat (41), and two elastic support assemblies (3) are mounted and connected to the second bearing seat (42), and the four elastic support assemblies (3) are arranged in a rectangular shape.

8. A method for measuring the steering angle of an articulated engineering machine, using the steering angle measuring device for an articulated engineering machine according to claim 2, characterized in that: The measuring wheel (410) of the measuring device is always in contact with the front frame (5) under the action of the elastic support assembly (3); when turning, the front frame (5) drives the measuring wheel (410) to rotate, and the rotary encoder (44) collects the rotation angle and transmits it to the controller, which converts the rotation angle into a steering angle through a conversion algorithm.

9. The method for measuring the steering angle of an articulated engineering machine according to claim 8, wherein: The conversion algorithm is: When turning left: ； When turning right: ； in, is the steering angle, that is, the angle the vehicle turns; The rotation angle of the measuring wheel (410) acquired by the rotary encoder (44); The distance from the contact point between the measuring wheel (410) and the front frame (5) to the pin; is the radius of the measuring wheel (410).

10. The method for measuring the steering angle of an articulated engineering machine according to claim 8, wherein: The following steps are included when installing a steering angle measuring device for articulated construction machinery: S1. Install the sealing ring (49) on both sides of the measuring wheel (410); S2, installing the first bearing seat (41) and the second bearing seat (42); S3, install bearings (48) and circlips (47) on both sides; S4, installing and fixing the rotary encoder (44) and the encoder mounting base (45); S5, connecting the first bearing seat (41) and the second bearing seat (42) to the elastic support seat; S6. The elastic support seat is mounted on the rear frame (1) via the fixing bracket (2) and the measuring wheel (410) contacts the front frame (5).

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