A structure suitable for angle detection between articulated carriages of rubber-tired vehicles

Abstract

This invention discloses a structure suitable for detecting the angle between articulated carriages of rubber-tired vehicles, relating to the field of vehicle articulation angle detection technology. It includes: a waterproof housing for protecting the internal structure; a rotation detection module, disposed inside the waterproof housing, for detecting the relative rotation angle between the articulated carriages; and a retractable universal joint module, disposed at the bottom of the rotation detection module, for compensating for axial, radial, and angular deviations between the articulated carriages. The rotation detection module includes: a magnetic head fixing plate, disposed at the bottom of the waterproof housing; a magnetic head support plate, connected to the magnetic head fixing plate by bolts, for supporting and positioning the magnetic rings; and a sensor spacer plate, disposed inside the magnetic head support plate, for separating the magnetic rings and maintaining spacing. This invention solves the problems of inaccurate vehicle cornering angle detection, inability to promptly identify articulated device jamming, and poor deviation compensation capability in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle articulation angle detection technology, and more specifically, to a structure suitable for detecting the angle between articulated compartments of rubber-tired vehicles. Background Technology

[0002] With the rapid development of urban rail transit, rubber-tired vehicles, as an important type of rail transit, have been widely used in the field. Rubber-tired vehicles, with their advantages such as good climbing ability, small turning radius, and low noise, have been extensively adopted in urban transportation systems such as subways and light rail. Because rubber-tired vehicles need to adapt to complex and changing urban line conditions, including sharp turns and steep slopes, higher requirements are placed on the vehicle's mechanical structure and control system, especially on the reliability and safety of the inter-carriage connection devices, which are subject to strict standards.

[0003] Currently, most rubber-tired vehicles use articulated slewing bearings to connect the carriages, achieving a flexible connection between adjacent carriages and allowing the vehicle to smoothly traverse curved sections. In traditional technology, to monitor the working status of the articulation device, contact angle sensors or simple position switches are typically used to detect the relative angle between the carriages. These traditional detection methods mainly rely on mechanical contact to obtain angle information and transmit the data to the onboard control system via wired transmission to achieve basic monitoring and safety protection of the articulation status.

[0004] However, existing angle detection technologies have several shortcomings: when vehicles traverse relatively small curves, excessive rotation angles can easily damage the detection device and other components, affecting detection accuracy and equipment lifespan; simultaneously, if the articulation device jams, existing detection systems often fail to identify and warn of this issue in a timely and accurate manner, preventing vehicles from navigating curves properly and seriously impacting driving safety. Furthermore, traditional contact-based detection methods suffer from severe wear, frequent maintenance, and poor reliability. Especially when there are axial, radial, and angular deviations between the vehicle bodies, existing detection structures cannot effectively compensate for these deviations, easily leading to increased detection errors or equipment damage, making it difficult to meet the stringent requirements for angle detection accuracy and reliability in complex operating conditions for rubber-tired vehicles.

[0005] No effective solutions have yet been proposed to address the problems in the relevant technologies. Summary of the Invention

[0006] To address the problems in related technologies, this invention proposes a structure suitable for angle detection between articulated compartments of rubber-tired vehicles. It has the advantages of non-contact detection, multi-directional compensation, and redundant backup, thereby solving the problems of inaccurate vehicle cornering angle detection, failure to promptly identify articulated device jamming, and poor deviation compensation capability in the prior art.

[0007] Therefore, the specific technical solution adopted by the present invention is as follows: A structure suitable for detecting the angle between articulated carriages of rubber-tired vehicles, the structure comprising: A waterproof outer shell is used to protect the internal structure; The rotation detection module, located inside the waterproof housing, is used to detect the relative rotation angle between the articulated carriages; The retractable universal joint module, located at the bottom of the rotation detection module, is used to compensate for axial, radial, and angular deviations between articulated carriages.

[0008] Furthermore, the rotation detection module includes: a magnetic head mounting plate, located at the bottom of the waterproof housing, for fixing the rotation detection module, the waterproof housing, and the mounting end cap; a magnetic head support plate, connected to the magnetic head mounting plate by bolts, for supporting and positioning the magnetic rings; a sensor spacer plate, located inside the magnetic head support plate, for separating the magnetic rings and maintaining their spacing; a cross ball bearing, located on the inner side of the magnetic head mounting plate near the waterproof housing, connected to the magnetic head mounting plate by bolts; an auxiliary flange, located on the inner side of the magnetic head mounting plate away from the waterproof housing, connected to the cross ball bearing by bolts, and both the first and second magnetic rings are connected to the auxiliary flange by locating pins; and a cable outlet cover, located on one end of the magnetic head mounting plate away from the central axis, connected to the magnetic head mounting plate by bolts, for protecting the internal wiring and providing a cable outlet interface.

[0009] Furthermore, a first magnetic ring is fixedly installed on the side of the sensor spacer near the auxiliary flange, and a second magnetic ring is fixedly installed on the side of the sensor spacer away from the auxiliary flange; the magnetic head support plate is configured as a stepped structure, with a first magnetic head and a second magnetic head fixedly installed at both ends of the stepped structure near the sensor spacer, and a third magnetic head and a fourth magnetic head fixedly installed at both ends of the stepped structure away from the sensor spacer; the first and second magnetic heads are staggered with the third and fourth magnetic heads in the circumferential direction of the magnetic head support plate.

[0010] Furthermore, the retractable universal joint module includes: a first universal joint bracket, located at the bottom of the rotation detection module and fixedly connected to the auxiliary flange by bolts; a first universal joint ball bearing, located at the bottom inner side of the first universal joint bracket, used to compensate for radial and axial misalignment between carriages; a first auxiliary ball spline flange, located at the bottom of the first universal joint bracket and connected to the first universal joint bracket by the first universal joint ball bearing; and a ball spline shaft, bolted to the bottom of the first auxiliary ball spline flange. Used to achieve axial sliding compensation; a ball spline flange, located at the bottom end of the ball spline shaft, through which the ball spline shaft passes and is fixed with bolts; a second auxiliary ball spline flange, fixedly connected to the ball spline flange with bolts; a second universal joint ball bearing, located at the bottom inner side of the second auxiliary ball spline flange, used to compensate for radial and axial deviations between carriages; a second universal joint bracket, located at the bottom end of the second auxiliary ball spline flange, connected to the second auxiliary ball spline flange via the second universal joint ball bearing.

[0011] Furthermore, a bolt post is provided at the lower end of the second universal joint bracket. The bolt post is fixedly connected to the second universal joint bracket by bolts for fixing to the carriage mounting seat. The ball spline shaft and the ball spline flange form a sliding spline connection to compensate for axial displacement caused by changes in angle between carriages.

[0012] Furthermore, the first and second magnetic rings are connected to the retractable universal joint module via an auxiliary flange, and rotate as rotors with the first articulated carriage when the vehicle is running; the first, second, third, and fourth magnetic heads are connected to the waterproof housing via a magnetic head fixing plate, and remain relatively stationary with the second articulated carriage when the vehicle is running, and the angle between the articulated carriages is detected by the relative rotation between the rotor and the stator.

[0013] Furthermore, the first, second, third, and fourth magnetic heads are all integrated with angle calculation circuits to collect and analyze the relative angles of the magnetic ring rotation to obtain angle information.

[0014] Furthermore, the angle calculation circuit transmits angle information to the processor through the sensor. The processor compares the angle information transmitted by the two magnetic heads that cooperate with the same magnetic ring. When the angle information transmitted by the two magnetic heads is consistent, the angle information is output. When the angle information is inconsistent, the angle information transmitted by the two magnetic heads that cooperate with another magnetic ring is used as the output.

[0015] The beneficial effects of this invention are as follows: (1) The structural design of the present invention for detecting the angle between the articulated carriages of rubber-tired vehicles is reasonable. The angle between the carriages is calculated by detecting the angle of the magnetic head around the magnetic ring by the sensor. It can promptly determine whether the angle is too large and may damage other components. It can also determine whether the articulation device is stuck, thereby effectively improving the dynamic stability and maneuverability of rubber-tired vehicles and ensuring driving safety.

[0016] (2) The present invention adopts a telescopic universal joint module, wherein the double universal joint structure can effectively release the torsional and pitching motion between the articulated carriages, realize angular velocity synchronization, allow a larger included angle between the carriages, and compensate for axial, radial and angular deviations; in addition, the module is designed symmetrically and the force distribution is uniform, which can withstand higher torque and radial load, effectively eliminate the angular velocity fluctuation of the universal joint, significantly reduce vibration and noise, and improve the running stability and service life of the equipment.

[0017] (3) The ball spline shaft and the ball spline flange in this invention form a sliding spline connection, which uses the rolling of the balls to achieve transmission. Compared with the traditional sliding spline, the rolling friction coefficient is much smaller than the sliding friction coefficient, which can effectively reduce energy loss, improve transmission efficiency, and reduce heat generation and noise. At the same time, the smooth rolling of the balls in the raceway reduces axial and radial movement, ensuring the measurement accuracy and operational stability of the equipment.

[0018] (4) This invention uses a cross ball bearing to connect the retractable universal joint module and the rotation detection module. The rollers are arranged in a 90-degree cross pattern, allowing the bearing to withstand loads in multiple directions, including radial, axial, and overturning moment, thereby improving the rigidity and stability of the bearing and ensuring high-precision positioning and rotation accuracy of the angle detection structure during operation. Compared with traditional bearing structures, this invention is smaller and lighter in weight under the same load-bearing capacity, and has higher wear resistance, corrosion resistance, and fatigue resistance. It can operate stably for a long time under harsh working conditions, reducing the frequency of bearing maintenance and replacement.

[0019] (5) The rotation detection module of the present invention adopts a design of a first magnetic ring, a second magnetic ring and four magnetic heads, and integrates the angle calculation circuit into the magnetic head to realize the redundancy backup function; when one set of magnetic rings and magnetic heads fails, another set of magnetic rings and magnetic heads can continue to work, ensuring the reliability and continuity of angle detection, and greatly improving the safety and stability of the system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a structure suitable for angle detection between articulated carriages of rubber-tired vehicles according to an embodiment of the present invention. Figure 2 This is a partial structural schematic diagram of a magnetic induction module in a structure suitable for angle detection between articulated carriages of rubber-tired vehicles according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of a structure for detecting the angle between articulated carriages of a rubber-tired vehicle according to an embodiment of the present invention, at another angle. Figure 4 This is a schematic diagram of a telescopic universal joint module in a structure suitable for angle detection between articulated compartments of rubber-tired vehicles according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the magnetic induction module in a structure suitable for angle detection between articulated carriages of rubber-tired vehicles according to an embodiment of the present invention; Figure 6 This is a partial structural diagram of the magnetic head support disk in a structure suitable for angle detection between articulated carriages of rubber-tired vehicles according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the arrangement of a structure for angle detection between articulated carriages of a rubber-tired vehicle on a bogie between articulated carriages, according to an embodiment of the present invention. Figure 8 This is a schematic cross-sectional view of the arrangement of a structure for angle detection between articulated carriages of a rubber-tired vehicle on a bogie between articulated carriages, according to an embodiment of the present invention.

[0022] In the picture: 1. Waterproof housing; 2. Cross ball bearing; 3. Magnetic head mounting plate; 4. Auxiliary flange; 5. Cable exit cover; 6. Magnetic head support plate; 7. First magnetic ring; 8. First magnetic head; 9. Second magnetic head; 10. Sensor spacer; 11. Second magnetic ring; 12. Third magnetic head; 13. Fourth magnetic head; 14. First universal joint bracket; 15. First universal joint ball bearing; 16. First auxiliary ball spline flange; 17. Ball spline shaft; 18. Ball spline flange; 19. Second auxiliary ball spline flange; 20. Second universal joint ball bearing; 21. Second universal joint bracket; 22. Bolt post; 23. Mounting end cover; 24. First mounting base; 25. Second mounting base; 26. Slewing bearing. Detailed Implementation

[0023] To further illustrate the various embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementation methods and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0024] According to an embodiment of the present invention, a structure suitable for angle detection between articulated carriages of rubber-tired vehicles is provided.

[0025] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments, such as... Figures 1-8 As shown, according to an embodiment of the present invention, a structure suitable for detecting the angle between articulated carriages of rubber-tired vehicles is provided. This structure includes: Waterproof outer casing 1, used to protect the internal structure; The rotation detection module, located inside the waterproof housing 1, is used to detect the relative rotation angle between the articulated carriages; The retractable universal joint module, located at the bottom of the rotation detection module, is used to compensate for axial, radial, and angular deviations between articulated carriages.

[0026] In one embodiment, the rotation detection module includes: a magnetic head mounting plate 3, disposed at the bottom of the waterproof housing 1, for fixing the rotation detection module, the waterproof housing 1, and the mounting end cover 23; a magnetic head support plate 6, connected to the magnetic head mounting plate 3 by bolts, for supporting and positioning the magnetic rings; a sensor spacer plate 10, disposed inside the magnetic head support plate 6, for separating the magnetic rings and maintaining spacing; a cross ball bearing 2, disposed on the inner side of the magnetic head mounting plate 3 near the waterproof housing 1, and connected to the magnetic head mounting plate 3 by bolts; an auxiliary flange 4, disposed on the inner side of the magnetic head mounting plate 3 away from the waterproof housing 1, and connected to the cross ball bearing 2 by bolts, and the first magnetic ring 7 and the second magnetic ring 11 are both connected to the auxiliary flange 4 by positioning pins; and a cable outlet cover 5, disposed on one end of the magnetic head mounting plate 3 away from the central axis, and connected to the magnetic head mounting plate 3 by bolts, for protecting the internal wiring and providing a cable outlet interface.

[0027] In one embodiment, a first magnetic ring 7 is fixedly disposed on the side of the sensor spacer 10 near the auxiliary flange 4, and a second magnetic ring 11 is fixedly disposed on the side of the sensor spacer 10 away from the auxiliary flange 4; the magnetic head support plate 6 is configured as a stepped structure, with a first magnetic head 8 and a second magnetic head 9 fixedly disposed at both ends of the stepped structure near the sensor spacer 10; a third magnetic head 12 and a fourth magnetic head 13 are fixedly disposed at both ends of the stepped structure away from the sensor spacer 10; the first magnetic head 8 and the second magnetic head 9 are staggered with the third magnetic head 12 and the fourth magnetic head 13 in the circumferential direction of the magnetic head support plate 6.

[0028] Specifically, such as Figure 2 , Figure 5 and Figure 6 As shown, the assembly process of the rotation detection module is as follows: Step ①, the crossed ball bearing 2 is firmly connected to the magnetic head mounting plate 3 with bolts to provide support for the rotating component. Step ②, the auxiliary flange 4 is connected to the crossed ball bearing 2 with bolts to form the rotating part of the rotation detection module. Step ③, the magnetic head support plate 6 is connected to the magnetic head mounting plate 3 with bolts to construct the fixed support structure for the magnetic head.

[0029] Step 4: Place the first magnetic ring 7 inside the magnetic head support plate 6 and precisely connect it to the auxiliary flange 4 using a locating pin to ensure accurate radial positioning of the magnetic ring. Step 5: Place the sensor spacer 10 inside the magnetic head support plate 6 and connect it to the auxiliary flange 4 using a locating pin to separate the two magnetic rings and maintain an appropriate distance. Step 6: Place the second magnetic ring 11 inside the magnetic head support plate 6 and connect it to the sensor spacer 10 using a locating pin to form a dual-magnetic-ring detection structure. Step 7: Connect the cable exit cover 5 to the magnetic head fixing plate 3 using bolts to protect the internal circuitry and provide a cable exit interface.

[0030] Step 8: Fix the first magnetic head 8 and the second magnetic head 9 to the stepped structure of the magnetic head support plate 6 with bolts. The two magnetic heads are located at opposite ends of the stepped structure near the sensor spacer 10, and cooperate with the first magnetic ring 7 for angle detection. Step 9: Fix the third magnetic head 12 and the fourth magnetic head 13 to the stepped structure of the magnetic head support plate 6 with bolts. The two magnetic heads are located at opposite ends of the stepped structure away from the sensor spacer 10, and cooperate with the second magnetic ring 11 for angle detection. Step 10: Complete the overall assembly of the rotation detection module.

[0031] Specifically, the assembled rotation detection module forms a dual-redundant angle detection system. The first magnetic ring 7 and the second magnetic ring 11 serve as the rotor and rotate with the carriage, while the four magnetic heads serve as the stator and remain relatively stationary. High-precision angle detection is achieved through the non-contact magnetic induction principle, and the configuration of dual magnetic rings and dual magnetic heads effectively improves the accuracy of the detection.

[0032] In one embodiment, the retractable universal joint module includes: a first universal joint bracket 14, disposed at the bottom of the rotation detection module and fixedly connected to the auxiliary flange 4 by bolts; a first universal joint ball bearing 15, disposed at the bottom inner side of the first universal joint bracket 14, used to compensate for radial and axial deviations between carriages; a first auxiliary ball spline flange 16, disposed at the bottom of the first universal joint bracket 14 and connected to the first universal joint bracket 14 by the first universal joint ball bearing 15; and a ball spline shaft 17, bolted to the bottom of the first auxiliary ball spline flange 16 for use in... To achieve axial sliding compensation; a ball spline flange 18 is located at the bottom end of the ball spline shaft 17, which passes through the ball spline flange 18 and is fixed with bolts; a second auxiliary ball spline flange 19 is fixedly connected to the ball spline flange 18 with bolts; a second universal joint ball bearing 20 is located at the bottom inner side of the second auxiliary ball spline flange 19 to compensate for radial and axial deviations between carriages; a second universal joint bracket 21 is located at the bottom end of the second auxiliary ball spline flange 19 and is connected to the second auxiliary ball spline flange 19 through the second universal joint ball bearing 20.

[0033] In one embodiment, a bolt post 22 is provided at the lower end of the second universal joint bracket 21. The bolt post 22 is fixedly connected to the second universal joint bracket 21 by bolts and is used to fix it to the carriage mounting seat. The ball spline shaft 17 and the ball spline flange 18 form a sliding spline connection to compensate for axial displacement caused by changes in the angle between carriages.

[0034] Specifically, such as Figure 3 and Figure 4As shown, the assembly process of the retractable universal joint module is as follows: Step ①, the lower end of the second universal joint bracket 21 is firmly connected to the bolt post 22 with bolts to form the bottom support structure of the entire module. Step ②, the ball spline flange 18 is bolted onto the second auxiliary ball spline flange 19 to ensure a reliable connection between the two. Step ③, the ball spline shaft 17 is bolted onto the first auxiliary ball spline flange 16 to prepare for subsequent spline connections.

[0035] Specifically, in step ④, after completing the above pre-assembly, carefully pass the ball spline shaft 17 through the ball spline flange 18 and fix it with bolts to form a sliding spline connection structure. This structure can effectively compensate for axial displacement caused by angle changes between the carriages. In step ⑤, connect the assembled upper structure to the first universal joint bracket 14 through the first universal joint ball bearing 15. The first universal joint ball bearing 15 can compensate for radial and axial deviations between the carriages. In step ⑥, connect the lower end of the second auxiliary ball spline flange 19 to the second universal joint bracket 21 through the second universal joint ball bearing 20. In step ⑦, complete the overall assembly of the retractable universal joint module.

[0036] Specifically, the assembled telescopic universal joint module has the ability to compensate for axial, radial and angular deviations between articulated carriages. The sliding spline connection formed by the ball spline shaft 17 and the ball spline flange 18 is mainly responsible for axial compensation, while the two universal joint ball bearings are mainly responsible for radial and angular deviation compensation, ensuring that the entire angle detection structure can work stably and reliably under various working conditions.

[0037] In one embodiment, the first magnetic ring 7 and the second magnetic ring 11 are connected to the retractable universal joint module via the auxiliary flange 4, and rotate as the rotor with the first articulated carriage when the vehicle is running; the first magnetic head 8, the second magnetic head 9, the third magnetic head 12 and the fourth magnetic head 13 are connected to the waterproof housing 1 via the magnetic head fixing plate 3, and remain relatively stationary with the second articulated carriage when the vehicle is running, and the angle between the articulated carriages is detected by the relative rotation between the rotor and the stator.

[0038] In one embodiment, the first magnetic head 8, the second magnetic head 9, the third magnetic head 12, and the fourth magnetic head 13 are all integrated with angle calculation circuits to collect and analyze the relative angle of the magnetic ring rotation to obtain angle information.

[0039] In one embodiment, the angle calculation circuit transmits angle information to the processor via a sensor. The processor compares the angle information transmitted by two magnetic heads that cooperate with the same magnetic ring. When the angle information transmitted by the two magnetic heads is consistent, the angle information is output. When the angle information is inconsistent, the angle information transmitted by two magnetic heads that cooperate with another magnetic ring is used as the output.

[0040] Specifically, such as Figure 7 and Figure 8 As shown, the overall installation process of the entire angle detection structure is as follows: Step ①, the first universal joint bracket 14 in the retractable universal joint module is firmly connected to the auxiliary flange 4 in the rotation detection module with bolts, realizing a reliable transmission connection between the two core modules and ensuring that the relative rotation between the carriages can be accurately transmitted to the detection system. Step ②, the assembled rotation detection module is connected to the mounting end cover 23 and the first mounting seat 24 respectively with bolts. The mounting end cover 23 and the waterproof shell 1 form a sealed cavity to protect the internal detection components, and the first mounting seat 24 serves as the connection interface with the first articulated carriage. Step ③, the bottom of the retractable universal joint module is connected to the slewing bearing 26 and the second mounting seat 25 with bolts. The slewing bearing 26 provides low-friction relative rotation support between the two mounting seats, and the second mounting seat 25 serves as the connection interface with the second articulated carriage.

[0041] Specifically, through the above installation steps, the angle detection structure of the present invention is firmly installed between two articulated carriages, forming a complete detection system. The first mounting base 24 and the second mounting base 25 are respectively fixed to the two adjacent articulated carriages. When the carriages rotate relative to each other, the slewing bearing 26 ensures smooth rotation, the telescopic universal joint module compensates for various deviations, the rotation detection module achieves accurate angle measurement, and the waterproof housing 1 and mounting end cap 23 provide reliable environmental protection for the entire system, ensuring that the angle detection structure can work stably for a long time in complex vehicle operating environments.

[0042] To facilitate understanding of the above-mentioned technical solution of the present invention, the following is a specific description using an application of angle detection between articulated compartments of a rubber-tired vehicle as an example: During the operation of the rubber-tired vehicle, relative torsional and pitching movements occur between the two articulated carriages. In this situation, the retractable universal joint module of this invention plays a crucial compensating role. The upper and lower universal joint ball bearings (first universal joint ball bearing 15 and second universal joint ball bearing 20) in this module effectively compensate for axial, radial, and angular misalignments between the carriages, ensuring the stability of the transmission system. Simultaneously, the sliding ball spline structure (ball spline shaft 17 and ball spline flange 18) releases the relative movement between the first mounting seat 24 and the second mounting seat 25 caused by changes in the angle between the carriages, avoiding stress concentration caused by mechanical constraints.

[0043] Specifically, the rotation detection module adopts a non-contact detection principle, with no frictional contact between the magnetic head and the magnetic ring, greatly improving the system's reliability and service life. When the vehicle is running, the first magnetic ring 7 and the second magnetic ring 11 are connected to the auxiliary flange 4 via locating pins. The auxiliary flange 4 is connected to the lower retractable universal joint module via bolts. The retractable universal joint module is in turn connected to the slewing bearing 26 and the first mounting base 24 via bolts, forming a complete transmission chain. Therefore, the rotation angle of the first magnetic ring 7 and the second magnetic ring 11 is completely consistent with that of the carriage connected to the first mounting base 24, achieving accurate transmission of carriage rotation.

[0044] Specifically, the stator portion of the detection structure in this invention comprises multiple magnetic heads. The first magnetic head 8, the second magnetic head 9, the third magnetic head 12, and the fourth magnetic head 13 are all securely connected to the magnetic head mounting plate 3 via bolts. The magnetic head mounting plate 3 is connected to the waterproof housing 1, the mounting end cover 23, and the second mounting base 25 via bolts, ensuring that the rotation angle of the magnetic heads is consistent with the carriage connected to the second mounting base 25. By setting a sensor spacer plate 10, the second magnetic ring 11 is placed on the upper part of the sensor spacer plate 10, and the first magnetic ring 7 is placed on the lower part of the sensor spacer plate 10, maintaining an appropriate distance between the two magnetic rings, thus creating conditions for independent acquisition and comparative verification of angle information.

[0045] Specifically, the angle detection process of this invention is as follows: When relative rotation occurs between two adjacent articulated carriages, it is assumed that the carriage connected to the second mounting base 25 remains stationary, while the carriage connected to the first mounting base 24 rotates relative to the carriage connected to the second mounting base 25. At this time, the magnetic head assembly connected to the second mounting base 25 acts as the stator and remains relatively stationary, while the magnetic ring assembly connected to the first mounting base 24 acts as the rotor and rotates with the carriage. The first magnetic head 8 and the second magnetic head 9 cooperate with the first magnetic ring 7 to perform angle detection, and the third magnetic head 12 and the fourth magnetic head 13 cooperate with the second magnetic ring 11 to perform angle detection. The angle calculation circuit integrated on each magnetic head can collect and analyze the relative angle of the magnetic ring rotation in real time, and transmit the angle data to the processor for subsequent processing through the sensor.

[0046] Specifically, after collecting angle data, the processor performs intelligent analysis and redundancy verification. When the angle information returned by two magnetic heads mating with the same magnetic ring (such as the first magnetic head 8 and the second magnetic head 9, or the third magnetic head 12 and the fourth magnetic head 13) is completely consistent, the processor directly outputs this angle information as the accurate angle of rotation between the articulated carriages. If the angle information returned by the two magnetic heads mating with the same magnetic ring is inconsistent, the processor will automatically use the angle information returned by the other pair of magnetic heads as the final output. This dual redundancy design effectively avoids the impact of a single sensor failure on the detection accuracy.

[0047] Specifically, the entire angle detection structure achieves precise measurement of the angle between the articulated carriages through the relative movement of the magnetic head and the magnetic ring. The first magnetic head 8 and the second magnetic head 9 are staggered with the third magnetic head 12 and the fourth magnetic head 13 on the stepped structure of the magnetic head support plate 6, ensuring the stability and reliability of the detection signal. Simultaneously, the design of the sensor spacer plate 10 allows the two sets of magnetic rings to operate independently without interference, providing double protection for the system. This redundant detection mechanism not only ensures the accuracy of angle measurement but also greatly improves the reliability of the entire detection mechanism under complex working conditions.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A structure suitable for detecting the angle between articulated carriages of rubber-tired vehicles, characterized in that, include: A waterproof outer shell (1) is used to protect the internal structure; A rotation detection module, located inside a waterproof housing (1), is used to detect the relative rotation angle between articulated carriages; The retractable universal joint module is located at the bottom of the rotation detection module and is used to compensate for axial, radial and angular deviations between articulated carriages; The rotation detection module includes: The magnetic head fixing plate (3) is located at the bottom of the waterproof housing (1) and is used to fix and connect the rotation detection module, the waterproof housing (1) and the mounting end cover. The magnetic head support plate (6) is connected to the magnetic head fixing plate (3) by bolts and is used to support and position the magnetic ring; Sensor spacer disk (10) is disposed inside magnetic head support disk (6) to separate magnetic rings and maintain spacing; A cross ball bearing (2) is located on the inner side of the magnetic head mounting plate (3) near the waterproof housing (1), and the cross ball bearing (2) is connected to the magnetic head mounting plate (3) by bolts; An auxiliary flange (4) is located on the inner side of the magnetic head fixing plate (3) away from the waterproof shell (1). The auxiliary flange (4) is connected to the cross ball bearing (2) by bolts, and the first magnetic ring (7) and the second magnetic ring (11) are both connected to the auxiliary flange (4) by locating pins. A first magnetic ring (7) is fixedly provided on the side of the sensor spacer (10) close to the auxiliary flange (4), and a second magnetic ring (11) is fixedly provided on the side of the sensor spacer (10) away from the auxiliary flange (4). The magnetic head support disk (6) is configured as a stepped structure. The first magnetic head (8) and the second magnetic head (9) are fixedly installed at the two ends of the stepped structure near the sensor spacer disk (10), respectively. The third magnetic head (12) and the fourth magnetic head (13) are fixedly installed at the two ends of the stepped structure away from the sensor spacer disk (10), respectively. The first magnetic head (8) and the second magnetic head (9) are staggered with the third magnetic head (12) and the fourth magnetic head (13) in the circumferential direction of the magnetic head support disk (6); The first magnetic ring (7) and the second magnetic ring (11) are connected to the retractable universal joint module through the auxiliary flange (4) and rotate with the first articulated carriage as a rotor when the vehicle is running. The first magnetic head (8), the second magnetic head (9), the third magnetic head (12) and the fourth magnetic head (13) are connected to the waterproof shell (1) through the magnetic head fixing plate (3). When the vehicle is running, they act as stators and remain relatively stationary with the second articulated car. The angle between the articulated cars is detected by the relative rotation between the rotor and the stator.

2. The structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 1, characterized in that, The rotation detection module also includes: The cable outlet cover (5) is located on one end of the magnetic head fixing disk (3) away from the central axis. The cable outlet cover (5) is connected to the magnetic head fixing disk (3) by bolts and is used to protect the internal circuit and provide the cable outlet interface.

3. The structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 1, characterized in that, The retractable universal joint module includes: The first cross universal joint bracket (14) is located at the bottom of the rotation detection module and is fixedly connected to the auxiliary flange (4) by bolts; The first cross universal joint ball bearing (15) is located at the bottom of the inner side of the first cross universal joint bracket (14) and is used to compensate for radial and axial deviations between carriages; The first auxiliary ball spline flange (16) is located at the bottom of the first cross universal joint bracket (14) and is connected to the first cross universal joint bracket (14) through the first cross universal joint ball bearing (15). The ball spline shaft (17) is bolted to the bottom of the first auxiliary ball spline flange (16) to achieve axial sliding compensation.

4. The structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 3, characterized in that, The retractable universal joint module also includes: A ball spline flange (18) is disposed at the bottom end of a ball spline shaft (17), the ball spline shaft (17) passes through the ball spline flange (18) and is fixed by bolts; The second auxiliary ball spline flange (19) is fixedly connected to the ball spline flange (18) by bolts; The second cross universal joint ball bearing (20) is located at the bottom inside the second auxiliary ball spline flange (19) and is used to compensate for radial and axial deviations between carriages; The second cross universal joint bracket (21) is located at the bottom of the second auxiliary ball spline flange (19) and is connected to the second auxiliary ball spline flange (19) through the second cross universal joint ball bearing (20).

5. A structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 4, characterized in that, The lower end of the second cross universal joint bracket (21) is provided with a bolt post (22), which is fixedly connected to the second cross universal joint bracket (21) by bolts and is used to fix it to the carriage mounting seat; The ball spline shaft (17) and the ball spline flange (18) form a sliding spline connection to compensate for axial displacement caused by changes in the angle between the carriages.

6. The structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 1, characterized in that, The first magnetic head (8), the second magnetic head (9), the third magnetic head (12) and the fourth magnetic head (13) are all integrated with angle calculation circuits, which are used to collect and analyze the relative angle of the magnetic ring rotation to obtain angle information.

7. A structure for detecting the angle between articulated carriages of rubber-tired vehicles according to claim 6, characterized in that, The angle calculation circuit transmits angle information to the processor through a sensor. The processor compares the angle information transmitted by two magnetic heads that cooperate with the same magnetic ring. When the angle information transmitted by the two magnetic heads is consistent, the angle information is output. When the angle information is inconsistent, the angle information transmitted by two magnetic heads that cooperate with another magnetic ring is used as the output.

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