Wheel turning angle monitoring device and unmanned vehicle
By designing a wheel angle monitoring device including angle sensor, main pin cover, mounting bracket and coupling, the existing device is solved, and accurate monitoring of wheel steering angle and low-cost maintenance are achieved.
Patent Information
- Application Number
- CN202421686962.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-07-16
AI Technical Summary
The existing wheel angle monitoring device is inconvenient to install and disassemble, and the overall cost is relatively high.
A wheel angle monitoring device is designed, including an angle sensor, a master pin cover, a mounting bracket and a coupling. The rotation shaft and the short shaft are connected by coupling, so that the rotation shaft can rotate synchronously; the mounting bracket connects the axle and the housing to keep the housing stationary relative to the steering joint master pin; the rotation angle of the rotation shaft relative to the steering joint master pin is detected by the rotation of the steering joint relative to the housing, and the wheel steering angle is monitored.
It realizes accurate monitoring of wheel steering angle, facilitates assembly and disassembly, reduces maintenance and replacement costs, and does not require targeted design of the original wheel structure.
Smart Images
Figure CN222832901U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of unmanned driving, and in particular to a wheel angle monitoring device and an unmanned vehicle. Background Art
[0002] Unmanned vehicles are often used in exploration and transportation operations in harsh environments. Their steering control requires precise feedback of the steering angle of the wheels in order to monitor and control the vehicle's motion state and motion path.
[0003] In the related art, a linear displacement sensor is usually installed externally or internally on the steering cylinder of the vehicle, and the linear displacement sensor is used to detect the linear reciprocating displacement distance of the steering cylinder and convert it into the steering angle of the wheel. However, the linear displacement sensor in this method is inconvenient to install and disassemble, which is not conducive to maintenance and replacement, and the steering cylinder needs to be designed according to the installation method of the linear displacement sensor, which has a high overall cost. Utility Model Content
[0004] The technical problem solved by the utility model is that the existing wheel angle monitoring related structures are inconvenient to assemble and disassemble.
[0005] To solve the above problems, on the one hand, the utility model provides a wheel angle monitoring device, wherein the wheel includes an axle and a steering knuckle, the axle is fixedly provided with a steering knuckle kingpin hinged to the steering knuckle, and when the wheel turns, the steering knuckle rotates relative to the steering knuckle kingpin, and the wheel angle monitoring device includes an angle sensor, a kingpin cover, a mounting bracket and a coupling; the angle sensor includes a shell and a rotating shaft rotatable relative to the shell; the kingpin cover is arranged on the steering knuckle, and the kingpin cover is convexly provided with a connecting stub arranged coaxially with the steering knuckle kingpin; one end of the mounting bracket is connected to the axle, and the other end is connected to the shell; one end of the coupling is connected to the connecting stub, and the other end is connected to the rotating shaft; when the wheel turns, the connecting stub drives the rotating shaft to rotate relative to the shell through the coupling, and the angle sensor is used to detect the rotation angle of the rotating shaft relative to the shell to obtain the steering angle of the wheel.
[0006] Optionally, the two ends of the coupling are respectively axially recessed with a first mounting hole and a second mounting hole, and the side wall of the coupling is radially provided with a first threaded hole that passes through the first mounting hole and a second threaded hole that passes through the second mounting hole; the rotating shaft is inserted into the first mounting hole, the first threaded hole is used for a screw to pass through and abut against the rotating shaft, and the connecting short shaft is inserted into the second mounting hole, the second threaded hole is used for a screw to pass through and abut against the connecting short shaft.
[0007] Optionally, the rotating shaft and the connecting short shaft are coaxially arranged.
[0008] Optionally, the mounting bracket is a plate-like structure, including a first mounting portion connected to the axle, a second mounting portion connected to the shell, and a third mounting portion connecting the first mounting portion and the second mounting portion, and the first mounting portion and the third mounting portion, as well as the second mounting portion and the third mounting portion, are connected at a preset angle.
[0009] Optionally, a connecting plate is further included, wherein the connecting plate is fixed to the axle, and the first mounting portion is detachably connected to the connecting plate via a threaded fastener.
[0010] Optionally, the second mounting portion is detachably connected to the shell via a threaded fastener, the second mounting portion is provided with a through hole, the shell is provided on one side of the second mounting portion, the rotating shaft passes through the through hole and extends to the other side of the second mounting portion and is connected to the coupling.
[0011] Optionally, the kingpin cover plate and the connecting short shaft are an integrally formed structure.
[0012] Optionally, the kingpin cover plate is detachably connected to the steering knuckle via a threaded fastener.
[0013] Optionally, the coupling is an integrally formed elastic coupling.
[0014] On the other hand, the utility model also provides an unmanned vehicle, comprising the wheel angle monitoring device described in any one of the above items.
[0015] The wheel angle monitoring device and unmanned vehicle of the utility model connect the rotating shaft and the connecting short shaft through a coupling, so that the rotating shaft can rotate synchronously with the connecting short shaft; connect the axle and the housing through a mounting bracket, so that the housing remains stationary relative to the steering knuckle kingpin and does not move relative to it; by making the connecting short shaft coaxial with the steering knuckle kingpin line, when the steering knuckle rotates relative to the steering knuckle kingpin, the rotation angle of the rotating shaft is consistent with the rotation angle of the steering knuckle. When the wheel turns, the steering knuckle rotates relative to the steering knuckle kingpin, so that the rotating shaft can rotate relative to the housing, and the angle sensor detects the rotation angle of the rotating shaft relative to the housing (that is, the rotation angle of the steering knuckle relative to the steering knuckle kingpin) to obtain the steering angle of the wheel. The monitoring device adopts an external installation, and the mounting bracket can be installed at a suitable position of the axle, and the kingpin cover plate with the steering short shaft can be installed at a suitable position of the steering knuckle, and then the coupling and the angle sensor can be installed accordingly. It is easy to assemble and disassemble, which is conducive to the maintenance and replacement of the device as a whole or a single component; at the same time, the original structure of the wheel remains unchanged, and no targeted design is required, and the installation and use cost is low. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the installation structure of a wheel angle monitoring device according to an embodiment of the utility model;
[0017] Figure 2 for Figure 1 A cross-sectional schematic diagram of a local structure;
[0018] Figure 3 for Figure 2 A magnified schematic diagram of center A.
[0019] Description of reference numerals:
[0020] 10-rotation angle sensor; 11-housing; 12-rotation axis; 20-kingpin cover plate; 21-connecting short shaft; 30-mounting bracket; 31-first mounting part; 32-second mounting part; 33-third mounting part; 40-coupling; 41-first mounting hole; 42-second mounting hole; 43-first threaded hole; 44-second threaded hole; 50-connecting plate; 101-axle; 102-steering knuckle; 103-steering knuckle kingpin; 104-rim; 105-tire; 106-brake caliper; 107-suspension cylinder; 108-steering cylinder; 109-steering knuckle arm; 110-steering tie rod. DETAILED DESCRIPTION
[0021] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.
[0022] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0023] In the present utility model, the orientations or positional relationships indicated by terms such as "top", "bottom", "up", "down", "left", and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.
[0024] The wheel angle monitoring device used in the prior art has the problems of being inconvenient to assemble and disassemble and having a high overall cost.
[0025] See also Figures 1 to 3 In order to solve the above technical problems, on the one hand, an embodiment of the utility model provides a wheel angle monitoring device for real-time monitoring of the steering angle of the wheel.
[0026] It should be noted that the wheel of the wheel angle monitoring device can be the left front wheel and / or the right front wheel of the vehicle. The illustrated embodiment takes the right front wheel as an example to briefly describe the wheel structure. Figure 1 and Figure 2 The wheel may include an axle 101, a steering knuckle 102, a steering knuckle kingpin 103, a rim 104, a tire 105, a brake caliper 106, a suspension cylinder 107, a steering cylinder 108, a steering knuckle arm 109 and a steering tie rod 110. Specifically, the rim 104 may be fixedly connected to the steering knuckle 102, the tire 105 is mounted on the rim 104, and the rim 104 and the tire 105 are used for the vehicle to rotate and walk on the ground; the brake caliper 106 may be connected to the steering knuckle 102 for braking the rim 104; the steering knuckle kingpin 103 may be fixedly arranged on the axle 101, and the two ends of the steering knuckle kingpin 103 are hinged with the steering knuckle 102 so that the steering knuckle 102 can rotate relative to the steering knuckle kingpin 103 around the axis of the steering knuckle kingpin 103; the suspension cylinder 107 may be fixedly arranged on the axle 101, and is used to connect the axle 101 and the vehicle's vehicle. The steering cylinder 108 is fixed to the frame, and one end with telescopic function is connected to the steering knuckle 102 through the steering knuckle arm 109. For example, the telescopic end of the steering cylinder 108 is hinged to the steering knuckle arm 109, and the steering knuckle arm 109 is fixed to the steering knuckle 102. The steering cylinder 108 is used to drive the wheel to turn. One end of the steering tie rod 110 is connected to the steering knuckle arm 109 of the right front wheel in the figure, and the other end is connected to the steering knuckle arm 109 of the left front wheel of the vehicle, so that the left front wheel and the right front wheel are mechanically linked to ensure the consistency of the inner and outer wheel difference and turning radius of the two front wheels. When the wheel needs to turn, the telescopic end of the steering cylinder 108 is extended or shortened, driving the steering knuckle arm 109 to drive the steering knuckle 102 to rotate clockwise or counterclockwise relative to the steering knuckle kingpin 103, and the steering knuckle 102 drives the rim 104 and the tire 105 to deflect relative to the axle 101, thereby completing the steering of the wheel. That is, the rotation angle of the knuckle 102 relative to the knuckle kingpin 103 is consistent with the steering angle of the wheel.
[0027] The monitoring device of the utility model comprises a rotation angle sensor 10, a kingpin cover plate 20, a mounting bracket 30 and a coupling 40. The rotation angle sensor 10 comprises a housing 11 and a rotating shaft 12 which can rotate relative to the housing 11; the kingpin cover plate 20 is arranged on the steering knuckle 102, and the kingpin cover plate 20 is provided with a connecting short shaft 21 which is arranged coaxially with the steering knuckle kingpin 103; one end of the mounting bracket 30 is connected to the axle 101, and the other end is connected to the housing 11; one end of the coupling 40 is connected to the connecting short shaft 21, and the other end is connected to the rotating shaft 12.
[0028] The two ends of the coupling 40 are fixedly connected to the connecting short shaft 21 and the rotating shaft 12 respectively for transmitting torque, so that the rotating shaft 12 can rotate synchronously with the connecting short shaft 21; the connecting short shaft 21 is coaxially arranged with the steering knuckle kingpin 103 and is fixedly connected to the steering knuckle 102 through the kingpin cover plate 20, so that when the steering knuckle 102 rotates relative to the steering knuckle kingpin 103, the rotation angle of the rotating shaft 12 is consistent with the rotation angle of the steering knuckle 102; the two ends of the mounting bracket 30 are fixedly connected to the axle 101 and the shell 11 respectively, and the steering knuckle kingpin 103 is fixedly connected to the axle 101, so that the shell 11 remains stationary relative to the steering knuckle kingpin 103 and no relative movement occurs. It can be understood that when the wheel turns, the steering knuckle 102 rotates relative to the steering knuckle kingpin 103, so that the rotating shaft 12 can rotate relative to the housing 11. The rotation angle sensor 10 is used to detect the rotation angle of the rotating shaft 12 relative to the housing 11 (that is, the rotation angle of the steering knuckle 102 relative to the steering knuckle kingpin 103) to obtain the steering angle of the wheel. The steering angle sensor 10 can feed back the steering angle of the wheel to the vehicle control system in real time to achieve precise control of the wheel steering.
[0029] It should be noted that the rotation angle sensor 10 can be an inductive sensor. Specifically, a fixed coil and an iron core can be provided in the housing 11. The rotation of the rotating shaft 12 can drive the iron core to move relative to the fixed coil, thereby changing the induced current in the fixed coil, and the change in the rotation angle of the rotating shaft is determined by measuring the change in the induced current. Of course, the rotation angle sensor 10 can also use a photoelectric or magnetoresistive sensor, which can accurately measure the rotation angle of the rotating shaft 12 relative to the housing 11.
[0030] The wheel angle monitoring device of this embodiment is installed externally. The mounting bracket 30 can be installed at a suitable position of the axle 101, the kingpin cover plate 20 with a connecting short shaft 21 can be installed at a suitable position of the steering knuckle 102, and then the coupling 40 and the angle sensor 10 can be installed accordingly. It is easy to assemble and disassemble, which is conducive to the maintenance and replacement of the entire device or a single component. At the same time, the original structure of the wheel remains unchanged, no targeted design is required, and the installation and use cost is low.
[0031] Preferably, the two ends of the coupling 40 are respectively provided with a first mounting hole 41 and a second mounting hole 42 inwardly concavely in the axial direction, and the side wall of the coupling 40 is provided with a first threaded hole 43 penetrating to the first mounting hole 41 and a second threaded hole 44 penetrating to the second mounting hole 42 in the radial direction; the rotating shaft 12 is inserted into the first mounting hole 41, the first threaded hole 43 is used for the screw to pass through and abut against the rotating shaft 12, the connecting short shaft 21 is inserted into the second mounting hole 42, and the second threaded hole 44 is used for the screw to pass through and abut against the connecting short shaft 21. The coupling 40 can be a cylindrical structure, which has two end faces and a cylindrical side wall surface, the first mounting hole 41 and the second mounting hole 42 are respectively formed inwardly concavely in the axial direction from the two end faces, the first threaded hole 43 extends radially from the side wall surface to communicate with the first mounting hole 41, and the second threaded hole 44 also extends radially from the side wall surface to communicate with the second mounting hole 42. During installation, the end of the rotating shaft 12 away from the housing 11 can be inserted into the first mounting hole 41, and the screw can be screwed into the first threaded hole 43 so that the end of the screw can abut against the rotating shaft 12, so as to fix the rotating shaft 12 in the first mounting hole 41. The screw plays a tightening role to prevent the rotating shaft 12 from rotating relative to the coupling 40. Similarly, the connecting short shaft 21 can be fixed in the second mounting hole 42 by the screw to prevent the connecting short shaft 21 from rotating relative to the coupling 40. In this way, the synchronous rotation of the rotating shaft 12 and the connecting short shaft 21 can be achieved, and the two can be easily disassembled and assembled with the coupling 40, which is convenient for the maintenance and replacement of the coupling 40 and the rotation angle sensor 10.
[0032] In the illustrated embodiment, there is one first threaded hole 43 and one second threaded hole 44, but the embodiment does not limit the number of the first threaded hole 43 and the second threaded hole 44. In other embodiments, a plurality of first threaded holes 43 and second threaded holes 44 may be respectively provided along the circumference of the coupling 40, so as to tighten and fix the rotating shaft 12 and the connecting short shaft 21 through a plurality of screws, thereby improving the fixing effect.
[0033] Furthermore, the rotating shaft 12 and the connecting stub shaft 21 are coaxially arranged. That is, the axes of the steering knuckle kingpin 103, the connecting stub shaft 21 and the rotating shaft 12 coincide with each other, and the rotation angle of the rotating shaft 12 is completely consistent with the wheel steering angle, thereby improving the measurement accuracy of the wheel steering angle.
[0034] Preferably, the mounting bracket 30 is a plate-like structure, including a first mounting portion 31 connected to the axle 101, a second mounting portion 32 connected to the housing 11, and a third mounting portion 33 connecting the first mounting portion 31 and the second mounting portion 32, wherein the first mounting portion 31 and the third mounting portion 33, and the second mounting portion 32 and the third mounting portion 33 are connected at a preset angle. The mounting bracket 30 of the plate-like structure is light in weight and is easy to manufacture by stamping. The axle 101 is arranged roughly in the horizontal direction, and the steering knuckle kingpin 103 is arranged roughly in the vertical direction. The first mounting portion 31 is preferably arranged on the upper surface of the axle 101 to facilitate the installation of the mounting bracket 30. The angle sensor 10 is preferably directly above the steering knuckle kingpin 103 to facilitate the coaxial arrangement of the rotating shaft 12 and the steering knuckle kingpin 103. Since there is a certain height difference between the upper surface of the axle 101 and the top of the steering knuckle kingpin 103, the first mounting portion 31 and the third mounting portion 33, and the second mounting portion 32 and the third mounting portion 33 can be connected at an angle of 90° or other preset angles, so that the third mounting portion 33 can extend to the position of the shell 11 to fix the shell 11. The specific preset angle can be designed according to the wheel structure, and it is only necessary to firmly connect the shell 11 to the axle 101.
[0035] Preferably, the wheel angle monitoring device further comprises a connecting plate 50, which is fixed to the axle 101, and the first mounting portion 31 is detachably connected to the connecting plate 50 by means of a threaded fastener. The connecting plate 50 can be fixed to the axle 101 by welding, and the threaded fastener can be a matching structure of a bolt and a screw hole, such as a screw hole is provided on the connecting plate 50, and a round hole is provided on the first mounting portion 31, and the bolt passes through the round hole and matches with the screw hole thread, so as to fix the first mounting portion 31 to the axle 101. It can be understood that if the first mounting portion 31 is directly installed on the axle 101, it is necessary to drill a hole in the axle 101, thereby damaging the original structure of the axle 101, and there are certain safety hazards. In this embodiment, the first mounting portion 31 is fixed to the axle 101 by setting the connecting plate 50, without destroying the original structure of the axle 101, and the first mounting portion 31 is easy to disassemble and assemble, which is conducive to later maintenance.
[0036] Preferably, the second mounting portion 32 is detachably connected to the housing 11 through a threaded fastener, the second mounting portion 32 is provided with a through hole, the housing 11 is provided on one side of the second mounting portion 32, the rotating shaft 12 is passed through the through hole and extends to the other side of the second mounting portion 32 and is connected to the coupling 40. The threaded fastener may be a matching structure of a bolt and a nut, the bolt is sequentially passed through the housing 11 and the second mounting portion 32 and is locked by the nut to fix the housing 11 to the second mounting portion 32. The second mounting portion 32 is preferably connected to one end of the shell 11 facing the rotating shaft 12, and the rotating shaft 12 can be connected to the coupling 40 through a through hole provided in the second mounting portion 32. It can be understood that the closer the end of the rotating shaft 12 away from the shell 11 is to the fixed point of the angle sensor 10, the smaller the radial swing amplitude that may be generated. Compared with connecting the second mounting portion 32 to the end of the shell 11 away from the rotating shaft 12, the end of the rotating shaft 12 away from the shell 11 in this solution is closer to the fixed point, and the moving distance generated by the end of the rotating shaft 12 away from the shell 11 under the same swing amplitude is shorter, which can reduce the radial interaction force between the rotating shaft 12 and the coupling 40 when the vehicle is driving on bumpy roads, thereby avoiding damage to the rotating shaft 12 or the coupling 40.
[0037] Preferably, the kingpin cover plate 20 and the connecting stub shaft 21 are integrally formed. The connecting stub shaft 21 is convexly arranged on the side of the kingpin cover plate 20 facing away from the steering knuckle 102. In order to reduce the radial interaction force between the connecting stub shaft 21 and the coupling 40 when driving on bumpy roads, the length of the connecting stub shaft 21 can be designed to be as short as possible; at the same time, because the size of the rotating shaft 12 and the coupling 40 is small, the radial size of the connecting stub shaft 21 matched with the coupling 40 is correspondingly small, and it is inconvenient to install it separately, and there is a risk of breakage or deformation. By integrally forming the connecting stub shaft 21 with the kingpin cover plate 20, the connecting stub shaft 21 does not need to be installed separately, and the overall structural strength of the connecting stub shaft 21 can be enhanced to avoid its deformation or breakage.
[0038] Furthermore, the kingpin cover plate 20 and the steering knuckle 102 are detachably connected by a threaded fastener. The threaded fastener may be a matching structure of a bolt and a screw hole, the screw hole being provided in the steering knuckle 102, the screw rod passing through the kingpin cover plate 20 and threadably matching with the screw hole to fix the kingpin cover plate 20 to the steering knuckle 102. During the installation process, the smaller connecting stub shaft 21 may be connected to the coupling 40 first, and then the kingpin cover plate 20 may be connected to the steering knuckle 102. The detachable structure of the kingpin cover plate 20 and the steering knuckle 102 facilitates the installation and removal of the coupling 40.
[0039] It should be noted that the kingpin cover plate is the original structural member of the wheel, and the kingpin cover plate 20 of this embodiment is a replacement part of the original kingpin cover plate. When installing, it is only necessary to dismantle the original kingpin cover plate and replace it with the kingpin cover plate 20 of this embodiment provided with the connecting stub shaft 21, which is convenient for installation and disassembly. The difference between the kingpin cover plate 20 of this embodiment and the original kingpin cover plate is only that the connecting stub shaft 21 is added, and the original function of the kingpin cover plate 20 is completely retained. The connection structure between the kingpin cover plate 20 of this embodiment and the steering knuckle 102 is completely consistent with the connection structure between the original kingpin cover plate and the steering knuckle 102, and there is no need to change the original structure of the steering knuckle 102.
[0040] Preferably, the coupling 40 can be an integrally formed elastic coupling, whose clockwise and counterclockwise rotation characteristics are exactly the same, and the elastic effect can compensate for the radial, angular and axial relative displacements between the rotating shaft 12 and the connecting short shaft 21, thereby improving the measurement accuracy of the monitoring device.
[0041] On the other hand, an embodiment of the utility model also provides an unmanned vehicle, including the wheel angle monitoring device of the above embodiment. Since the unmanned vehicle adopts all the technical solutions of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here one by one.
[0042] Although the utility model is disclosed as above, the protection scope of the utility model is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the utility model, and these changes and modifications will fall within the protection scope of the utility model.
Claims
1. A wheel angle monitoring device, wherein the wheel comprises an axle (101) and a steering knuckle (102), wherein the axle (101) is fixedly provided with a steering knuckle kingpin (103) hinged to the steering knuckle (102), and when the wheel turns, the steering knuckle (102) rotates relative to the steering knuckle kingpin (103), characterized in that: The wheel angle monitoring device comprises: A rotation angle sensor (10) comprises a housing (11) and a rotating shaft (12) rotatable relative to the housing (11); A kingpin cover plate (20) is arranged on the steering knuckle (102), and the kingpin cover plate (20) is provided with a connecting short shaft (21) coaxially arranged with the steering knuckle kingpin (103); A mounting bracket (30), one end of which is connected to the axle (101) and the other end of which is connected to the housing (11); A coupling (40), one end of which is connected to the connecting stub shaft (21), and the other end of which is connected to the rotating shaft (12); When the wheel turns, the connecting stub shaft (21) drives the rotating shaft (12) to rotate relative to the housing (11) via the coupling (40), and the rotation angle sensor (10) is used to detect the rotation angle of the rotating shaft (12) relative to the housing (11).
2. The wheel angle monitoring device according to claim 1, characterized in that: The two ends of the coupling (40) are respectively provided with a first mounting hole (41) and a second mounting hole (42) inwardly concavely along the axial direction, and the side wall of the coupling (40) is provided with a first threaded hole (43) penetrating to the first mounting hole (41) and a second threaded hole (44) penetrating to the second mounting hole (42) in the radial direction; the rotating shaft (12) is inserted into the first mounting hole (41), the first threaded hole (43) is used for a screw rod to pass through and abut against the rotating shaft (12), the connecting short shaft (21) is inserted into the second mounting hole (42), and the second threaded hole (44) is used for a screw rod to pass through and abut against the connecting short shaft (21).
3. The wheel angle monitoring device according to claim 2, characterized in that: The rotating shaft (12) and the connecting short shaft (21) are coaxially arranged.
4. The wheel angle monitoring device according to claim 1, characterized in that: The mounting bracket (30) is a plate-shaped structure, comprising a first mounting portion (31) connected to the axle (101), a second mounting portion (32) connected to the housing (11), and a third mounting portion (33) connecting the first mounting portion (31) and the second mounting portion (32); the first mounting portion (31) and the third mounting portion (33), as well as the second mounting portion (32) and the third mounting portion (33), are connected at a preset angle.
5. The wheel angle monitoring device according to claim 4, characterized in that: It also comprises a connecting plate (50), wherein the connecting plate (50) is fixedly arranged on the axle (101), and the first mounting portion (31) and the connecting plate (50) are detachably connected via a threaded fastener.
6. The wheel angle monitoring device according to claim 4, characterized in that: The second mounting portion (32) is detachably connected to the housing (11) via a threaded fastener; the second mounting portion (32) is provided with a through hole; the housing (11) is provided on one side of the second mounting portion (32); the rotating shaft (12) passes through the through hole and extends to the other side of the second mounting portion (32) and is connected to the coupling (40).
7. The wheel angle monitoring device according to claim 1, characterized in that: The kingpin cover plate (20) and the connecting short shaft (21) are an integrally formed structure.
8. The wheel angle monitoring device according to claim 7, characterized in that: The kingpin cover plate (20) and the steering knuckle (102) are detachably connected via threaded fasteners.
9. The wheel angle monitoring device according to claim 1, characterized in that: The coupling (40) is an integrally formed elastic coupling.
10. An unmanned vehicle, characterized in that: It comprises the wheel angle monitoring device as described in any one of claims 1 to 9.