Steering angle measuring structure of small crawler-type automatic driving tractor

Abstract

The utility model discloses a steering angle measuring structure of a small-sized crawler-type automatic driving tractor, which relates to the technical field of steering angle measurement of crawler-type tractors, and is characterized in that a driving axle housing is rotationally connected with a half shaft, and a rotating speed sensor is arranged on the driving axle housing through a fixing mechanism to measure the rotating speed of a measured gear on the half shaft; the rotating speed of the driving wheels of the crawler-type tractor is calculated according to a certain proportion, the rotating speed measured by the driving wheels on the two sides is converted into a trigonometric function, the steering angle is calculated, and the distance between the rotating speed sensor and the measured gear is kept consistent through the adjusting mechanism. And the influence of the change of the working distance of the rotating speed sensor on the measurement range and the stability of output signals is avoided, so that the measurement precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steering angle measurement of crawler tractors, in particular to a steering angle measurement structure of a small crawler automatic driving tractor. Background Art

[0002] Autonomous driving technology has been widely used in agricultural production such as field orchards, and is very important for improving agricultural production efficiency and reducing agricultural production costs. The agricultural machinery autonomous driving system was first used on wheeled tractors. To achieve autonomous driving, many parameters are required, one of which is the steering angle of the wheel, which is measured by an angle sensor to measure the deflection angle of the steering wheel. However, crawler tractors do not steer by directly rotating the wheels, but by controlling the speed of the crawlers on both sides. Therefore, it is impossible to directly measure the steering angle. The existing technology measures the steering angle by measuring the speed of the crawler drive wheel.

[0003] The automatic driving system is modified on the original tractor, and the driving wheels of the crawler chassis of the small crawler tractor are very low to the ground. When the small crawler tractor works outdoors, dust, vibration, mud and other factors will affect the performance of the sensor, so the work will be unreliable, which will affect the measurement accuracy of the sensor. Since the output characteristics of the sensor are very sensitive to the change of the working distance, if the distance between the sensor and the measured object changes, the working distance of the sensor may no longer be appropriate, thereby affecting the stability of the sensor output signal, and then affecting the measurement accuracy, resulting in steering deviation of the small crawler tractor equipped with the automatic driving system. Utility Model Content

[0004] The utility model aims to provide a steering angle measurement structure for a small crawler-type automatic driving tractor to solve the problems raised in the prior art.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A steering angle measurement structure for a small crawler-type automatic driving tractor, the steering angle measurement structure comprising a drive axle housing, a half-shaft, a gear to be measured, a fixing mechanism, a speed sensor and an adjusting mechanism, the drive axle housing and the half-shaft are rotationally connected, the gear to be measured and the half-shaft are transmission-connected, the fixing mechanism and the drive axle housing are fixedly connected, the fixing mechanism and the speed sensor are fixedly connected, and the adjusting mechanism and the speed sensor are fastened.

[0007] It is rotationally connected through a drive axle housing and a half shaft. Both ends of the half shaft are connected to the reducer and differential of the tractor. The power of the engine passes through the reducer and differential to drive the half shaft to rotate within the drive axle housing. The gear under test and the half shaft are connected through a keyway to make the gear under test and the half shaft rotate synchronously. Through a fixing mechanism, a rotational speed sensor is fixed on the drive axle housing. The rotational speed sensor is located above the gear under test to detect the rotational speed of the gear under test. By converting and calculating at a certain ratio, the rotational speed of the drive wheels of the tractor is obtained, enabling the control circuit to convert the rotational speeds on both sides of the tractor into trigonometric functions, measure the steering angle of the tractor, calculate the steering angle, and further control the steering angle of the crawler tractor. The adjusting mechanism is tightly connected to the rotational speed sensor to keep the distance between the gear under test and the rotational speed sensor consistent, preventing the change in the distance between the gear under test and the rotational speed sensor from affecting the measurement accuracy.

[0008] Furthermore, the fixing mechanism includes a mounting plate, a fixing bolt, a first spring, and a fixing block. The mounting plate abuts against the outside of the drive axle housing. The fixing bolt abuts against the mounting plate. The drive axle housing is provided with a threaded hole, and the fixing bolt is threadedly connected to the threaded hole. The first spring is fixedly connected to the mounting plate, the first spring is fixedly connected to the fixing block, and the fixing block is fixedly connected to the rotational speed sensor.

[0009] The mounting plate abuts against the outside of the drive axle housing. Through the threaded hole provided in the drive axle housing, the fixing bolt passes through the through hole of the mounting plate and is threadedly connected to the threaded hole, fixing the mounting plate on the outside of the drive axle housing. The fixing block is fixedly connected through the first spring, so that the rotational speed sensor fixedly connected to the fixing block can slide on the through hole of the drive axle housing when the distance between the drive axle housing and the half shaft changes. The rotational speed sensor is indirectly fixed on the mounting plate, making it easy to install the rotational speed sensor.

[0010] Furthermore, the adjusting mechanism includes a bearing, a fixing plate, a second spring, and a clamping unit. The inner ring of the bearing is sleeved on the half shaft. The second spring is fixedly connected to the drive axle housing. The fixing plate is fixedly connected to the second spring. The outer ring of the bearing is fixedly connected to the fixing plate. The clamping unit is fixedly connected to the side of the outer ring of the bearing.

[0011] By sleeving the inner ring of the bearing on the half shaft, the distance between the outer ring of the bearing and the gear under test is kept consistent. By fixing the outer ring of the bearing through the fixing plate, the outer ring of the bearing does not rotate. By connecting the fixing plate through the second spring, when the drive axle housing and the half shaft have a relative displacement, the fixing plate slides on the drive axle housing, preventing the drive axle housing from applying pressure due to the displacement, and further preventing the inner ring of the bearing from applying pressure to the half shaft and affecting the rotation of the half shaft. By fixedly connecting the clamping unit to the side of the outer ring of the bearing, the clamping unit clamps the rotational speed sensor, enabling the rotational speed sensor to slide on the through hole of the drive axle housing when the drive axle housing and the half shaft have a relative displacement, keeping the distance between the rotational speed sensor and the gear under test consistent.

[0012] Furthermore, the clamping unit includes a fixed rod, a clamping block, a No. 3 spring, a clamping block, a No. 4 spring, an unlocking rod block and a sliding block. The fixed rod is fixedly connected to the side of the outer ring of the bearing. Two clamping blocks are provided. The No. 3 spring is fixedly connected to the two clamping blocks. Two No. 4 springs are provided. The two clamping blocks are provided with grooves. The two No. 4 springs are respectively placed in the two grooves. The two No. 4 springs are respectively fixedly connected to the two clamping blocks. The clamping block is slidably connected to the two grooves. The unlocking rod block abuts against the clamping block. The sliding block is fixedly connected to the clamping block. The fixed rod is provided with a sliding groove, and the sliding block is slidably connected to the sliding groove.

[0013] The fixing rod and the side surface of the outer ring of the bearing are fixedly connected to each other so that the radial spacing between the fixing rod and the gear being measured is kept consistent. The two clamping blocks are respectively slid toward each other along the sliding groove under the action of the slider through the No. 3 spring, so that the two clamping blocks clamp the speed sensor. When disassembly is required, the unlocking rod block is pressed to move downward, so that the two clamping blocks are slid away from each other along the sliding groove under the action of the slider, so that the clamping blocks release the speed sensor. The clamping block is made to slide into the two grooves in the direction of the bearing through the No. 4 spring, so that the two clamping blocks remain in a loosened state for easy installation next time.

[0014] Furthermore, the unlocking rod block includes a connecting rod and an unlocking block, the connecting rod and the drive axle housing 1 are slidingly connected, the connecting rod and the mounting plate are slidingly connected, the connecting rod and the unlocking block are fixedly connected, and the unlocking block is provided with a No. 1 inclined surface, and the far end of the No. 1 inclined surface is a high end.

[0015] Through the sliding connection between the connecting rod and the through holes on the drive axle housing and the through holes on the mounting plate, the connecting rod is pressed to make the connecting rod drive the unlocking block to move downward, thereby making the inclined surface of the unlocking block abut against the clamping block. By setting the far end of the No. 1 inclined surface of the unlocking block to the high end, the two clamping blocks are spread apart when the unlocking block continues to move downward, thereby loosening the speed sensor.

[0016] Furthermore, the clamping block is provided with a second inclined surface, the distal end of the second inclined surface is a low end, and the clamping block 644 is provided with two protrusions, which are located at the clamping blocks 642 on both sides.

[0017] A protrusion is provided on the card block, so that the protrusion props up the two clamping blocks. A second inclined surface is provided on the card block and the far end is a low end. When the speed sensor is installed, the card block is pushed to slide out of the two grooves, so that the protrusion provided on the card block slides out of the groove, thereby allowing the clamping block to clamp the speed sensor.

[0018] Compared with the prior art, the beneficial effects of the utility model are:

[0019] 1. The rotational speed sensor is fixedly connected to the fixed block and installed inside the drive axle housing, which avoids the problems of difficult installation and dropping of the sensor used in the crawler tractor in small orchards on hilly and mountainous terrains. At the same time, the sensor is installed inside the drive axle and isolated from the external environment, avoiding the influence of the external environment on the measurement accuracy of the sensor.

[0020] 2. The bearing inner ring is sleeved on the half axle, so that the distance between the bearing outer ring and the measured gear remains consistent. The bearing outer ring is fixed by the fixing plate to make the bearing outer ring not rotate. The fixing plate is connected by the second spring. When the drive axle housing and the half axle have relative displacement, the fixing plate slides on the drive axle housing. The clamping unit is fixedly connected to the side of the bearing outer ring, and the clamping unit clamps the rotational speed sensor. When the drive axle housing and the half axle have relative displacement, the rotational speed sensor can slide in the through hole of the drive axle housing, so that the distance between the rotational speed sensor and the measured gear remains consistent, avoiding the change of the working distance of the rotational speed sensor from affecting the measurement range and the stability of the output signal, thereby improving the measurement accuracy and enabling the control circuit to accurately control the steering of the tractor. Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of the present utility model;

[0022] Figure 2 is Figure 1 the enlarged view of the partial A;

[0023] Figure 3 is the connection schematic diagram of the clamping block and the fourth spring of the present utility model;

[0024] Figure 4 is the structural schematic diagram of the unlocking rod block of the present utility model.

[0025] In the figure: 1. Drive axle housing; 11. Threaded hole; 2. Half axle; 3. Measured gear; 4. Fixing mechanism; 41. Mounting plate; 42. Fixing bolt; 43. First spring; 44. Fixed block; 5. Rotational speed sensor; 6. Adjusting mechanism; 61. Bearing; 62. Fixing plate; 63. Second spring; 64. Clamping unit; 641. Fixed rod; 6411. Sliding groove; 642. Clamping block; 6421. Groove; 643. Third spring; 644. Clamping block; 645. Fourth spring; 646. Unlocking rod block; 6461. Connecting rod; 6462. Unlocking block; 647. Slider. Detailed Embodiment

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Embodiment: As Figure 1 shown, the present invention provides a technical solution for the steering angle measurement structure of a small crawler-type autonomous tractor. A steering angle measurement structure of a small crawler-type autonomous tractor includes a drive axle housing 1, a half shaft 2, a measured gear 3, a fixing mechanism 4, a rotational speed sensor 5, and an adjusting mechanism 6. The drive axle housing 1 is rotatably connected to the half shaft 2, the measured gear 3 is drivingly connected to the half shaft 2, the fixing mechanism 4 is fixedly connected to the drive axle housing 1, the fixing mechanism 4 is fixedly connected to the rotational speed sensor 5, and the adjusting mechanism 6 is tightly connected to the rotational speed sensor 5.

[0028] By rotatably connecting the drive axle housing 1 and the half shaft 2, both ends of the half shaft 2 are connected to the reducer and differential of the tractor. The power of the engine passes through the reducer and differential to drive the half shaft 2 to rotate within the drive axle housing 1. The measured gear 3 and the half shaft 2 are drivingly connected through a keyway, so that the measured gear 3 and the half shaft 2 rotate synchronously. Through the fixing mechanism 4, the rotational speed sensor 5 is fixed on the drive axle housing 1. The rotational speed sensor 5 is located above the measured gear 3 to detect the rotational speed of the measured gear 3. By converting and calculating through a certain ratio, the rotational speed of the drive wheel of the tractor is obtained, so that the control circuit can convert the rotational speeds on both sides of the tractor into trigonometric functions to calculate the steering angle, and further control the steering angle of the crawler-type tractor. By tightly connecting the adjusting mechanism 6 and the rotational speed sensor 5, the distance between the measured gear 3 and the rotational speed sensor 5 is kept consistent, avoiding the change in the distance between the measured gear 3 and the rotational speed sensor 5 from affecting the measurement accuracy.

[0029] As Figure 2 shown, the fixing mechanism 4 includes a mounting plate 41, a fixing bolt 42, a first spring 43, and a fixing block 44. The mounting plate 41 abuts against the outside of the drive axle housing 1, the fixing bolt 42 abuts against the mounting plate 41. The drive axle housing 1 is provided with a threaded hole 11, and the fixing bolt 42 is threadedly connected to the threaded hole 11. The first spring 43 is fixedly connected to the mounting plate 41, the first spring 43 is fixedly connected to the fixing block 44, and the fixing block 44 is fixedly connected to the rotational speed sensor 5.

[0030] The mounting plate 41 is in external contact with the drive axle housing 1. There are threaded holes 11 provided on the drive axle housing 1. The fixing bolts 42 pass through the through holes of the mounting plate 41, and the fixing bolts 42 are threadedly connected to the threaded holes 11, so that the mounting plate 41 is fixed to the outside of the drive axle housing 1. The fixing block 44 is fixedly connected by the first spring 43, so that the rotational speed sensor 5 fixedly connected to the fixing block 44 can slide on the through hole of the drive axle housing 1 when the distance between the drive axle housing 1 and the half axle 2 changes. The rotational speed sensor 5 is indirectly fixed on the mounting plate 41, making it easy to install the rotational speed sensor 5.

[0031] As Figure 2 shown, the adjusting mechanism 6 includes a bearing 61, a fixing plate 62, a second spring 63 and a clamping unit 64. The inner ring of the bearing 61 is sleeved on the half axle 2. The second spring 63 is fixedly connected to the drive axle housing 1. The fixing plate 62 is fixedly connected to the second spring 63. The outer ring of the bearing 61 is fixedly connected to the fixing plate 62. The clamping unit 64 is fixedly connected to the side surface of the outer ring of the bearing 61.

[0032] By sleeving the inner ring of the bearing 61 on the half axle 2, the distance between the outer ring of the bearing 61 and the measured gear 3 is kept consistent. By fixing the outer ring of the bearing 61 through the fixing plate 62, the outer ring of the bearing 61 does not rotate. By connecting the fixing plate 62 with the second spring 63, when the drive axle housing 1 and the half axle 2 have relative displacement, the fixing plate 62 slides on the drive axle housing 1, avoiding the drive axle housing 1 applying pressure due to displacement, and further avoiding the inner ring of the bearing 61 applying pressure to the half axle 2 and affecting the rotation of the half axle 2. By fixedly connecting the clamping unit 64 to the side surface of the outer ring of the bearing 61, the clamping unit 64 clamps the rotational speed sensor 5, so that when the drive axle housing 1 and the half axle 2 have relative displacement, the rotational speed sensor 5 can slide on the through hole of the drive axle housing 1, keeping the distance between the rotational speed sensor 5 and the measured gear 3 consistent.

[0033] As Figure 2 and Figure 3 shown, the clamping unit 64 includes a fixing rod 641, clamping blocks 642, a third spring 643, a clamping block 644, a fourth spring 645, an unlocking rod block 646 and a slider 647. The fixing rod 641 is fixedly connected to the side surface of the outer ring of the bearing 61. There are two clamping blocks 642. The third spring 643 is fixedly connected to the two clamping blocks 642. There are two fourth springs 645. The two clamping blocks 642 are provided with grooves 6421. The two fourth springs 645 are respectively placed in the two grooves 6421. The two fourth springs 645 are respectively fixedly connected to the two clamping blocks 642. The clamping block 644 is slidably connected to the two grooves 6421. The unlocking rod block 646 abuts against the clamping block 642. The slider 647 is fixedly connected to the clamping block 642. The fixing rod 641 is provided with a sliding groove 6411. The slider 647 is slidably connected to the sliding groove 6411.

[0034] By fixing the fixing rod 641 and the side surface of the outer ring of the bearing 61, the radial spacing between the fixing rod 641 and the measured gear 3 is kept consistent. By means of the No. 3 spring 643, the two clamping blocks 642 are respectively slid toward each other along the sliding groove 6411 under the action of the slider 647, so that the two clamping blocks 642 clamp the speed sensor 5. When disassembly is required, the unlocking rod block 646 is pressed to move the unlocking rod block 646 downward, so that the two clamping blocks 642 are slid away from each other along the sliding groove 6411 under the action of the slider 647, so that the clamping blocks 642 release the speed sensor 5. By means of the No. 4 spring 645, the clamping block 644 slides into the two grooves 6421 toward the bearing 61, so that the two clamping blocks 642 remain in a loosened state for easy installation next time.

[0035] like Figure 4 As shown, the unlocking rod block 646 includes a connecting rod 6461 and an unlocking block 6462. The connecting rod 6461 and the drive axle housing 1 are slidably connected, the connecting rod 6461 and the mounting plate 41 are slidably connected, the connecting rod 6461 and the unlocking block 6462 are fixedly connected, and the unlocking block 6462 is provided with a No. 1 inclined surface, and the distal end of the No. 1 inclined surface is a high end.

[0036] Through the sliding connection between the connecting rod 6461 and the through hole on the drive axle housing 1, as well as the through hole of the mounting plate 41, the connecting rod 6461 is pressed to make the connecting rod 6461 drive the unlocking block 6462 to move downward, thereby making the inclined surface of the unlocking block 6462 abut against the clamping block 642. By making the distal end of the No. 1 inclined surface of the unlocking block 6462 the high end, the two clamping blocks 642 are spread apart when the unlocking block 6462 continues to move downward, thereby loosening the speed sensor 5.

[0037] like Figure 2 and Figure 3 As shown, the clamping block 644 is provided with a second inclined surface, the distal end of the second inclined surface is a low end, and the clamping block 644 is provided with two protrusions, which are located at the clamping blocks 642 on both sides.

[0038] A protrusion is provided on the clamping block 644, so that the protrusion props up the two clamping blocks 642. A second inclined surface is provided on the clamping block 644, and the far end is a low end. When the speed sensor 5 is installed, the clamping block 644 is pushed to slide out of the two grooves 6421, so that the protrusion provided on the clamping block 644 slides out of the groove 6421, thereby allowing the clamping block 642 to clamp the speed sensor 5.

[0039] Working principle:

[0040] The driving axle housing 1 is provided with threaded holes 11. The fixing bolts 42 pass through the through holes of the mounting plate 41 and are threadedly connected to the threaded holes 11, so that the mounting plate 41 is fixed outside the driving axle housing 1. The fixing block 44 is fixedly connected by a first spring 43, and the fixing block 44 is fixedly connected to the rotational speed sensor 5, so that the rotational speed sensor 5 is located above the measured gear 3 to detect the rotational speed of the measured gear 3. The rotational speed of the tractor driving wheel is calculated through conversion and calculation in a certain proportion. By converting the rotational speeds measured by the two driving wheels into trigonometric functions, the steering angle is calculated, and then the steering angle of the crawler tractor is controlled. The inner ring of the bearing 61 is sleeved on the half shaft 2, and the fixing plate 62 fixes the outer ring of the bearing 61, so that the outer ring of the bearing 61 does not rotate. The fixing plate 62 is connected by a second spring 63. When the driving axle housing 1 and the half shaft 2 have relative displacement, the fixing plate 62 slides on the driving axle housing 1. The fixing rod 641 is fixedly connected to the side surface of the outer ring of the bearing 61, so that the radial distance between the fixing rod 641 and the measured gear 3 remains the same. Through the third spring 643, the two clamping blocks 642 slide towards each other along the sliding groove 6411 under the action of the slider 647, so that the two clamping blocks 642 clamp the rotational speed sensor 5. Thus, when the driving axle housing 1 and the half shaft 2 have relative displacement, the rotational speed sensor 5 can slide in the through hole on the driving axle housing 1, so that the distance between the rotational speed sensor 5 and the measured gear 3 remains the same, avoiding the change of the distance between the measured gear 3 and the rotational speed sensor 5 from affecting the measurement accuracy.

[0041] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A steering angle measurement structure for a small crawler-type automatic driving tractor, characterized in that: The steering angle measurement structure comprises a drive axle housing (1), a half shaft (2), a gear to be measured (3), a fixing mechanism (4), a rotation speed sensor (5) and an adjusting mechanism (6); the drive axle housing (1) and the half shaft (2) are rotationally connected, the gear to be measured (3) and the half shaft (2) are transmission-connected, the fixing mechanism (4) and the drive axle housing (1) are fixedly connected, the fixing mechanism (4) and the rotation speed sensor (5) are fixedly connected, and the adjusting mechanism (6) and the rotation speed sensor (5) are tightly connected.

2. The steering angle measurement structure of a small crawler-type automatic driving tractor according to claim 1, characterized in that: The fixing mechanism (4) comprises a mounting plate (41), a fixing bolt (42), a No. 1 spring (43) and a fixing block (44); the mounting plate (41) is in contact with the outside of the drive axle housing (1); the fixing bolt (42) is in contact with the mounting plate (41); the drive axle housing (1) is provided with a threaded hole (11); the fixing bolt (42) and the threaded hole (11) are threadedly connected; the No. 1 spring (43) is fixedly connected to the mounting plate (41); the No. 1 spring (43) is fixedly connected to the fixing block (44); and the fixing block (44) is fixedly connected to the speed sensor (5).

3. The steering angle measurement structure of a small crawler-type automatic driving tractor according to claim 2 is characterized in that: The adjusting mechanism (6) comprises a bearing (61), a fixing plate (62), a second spring (63) and a clamping unit (64); the inner ring of the bearing (61) is sleeved on the half shaft (2); the second spring (63) is fixedly connected to the drive axle housing (1); the fixing plate (62) and the second spring (63) are fixedly connected; the outer ring of the bearing (61) and the fixing plate (62) are fixedly connected; and the clamping unit (64) is fixedly connected to the side surface of the outer ring of the bearing (61).

4. The steering angle measurement structure of a small crawler-type automatic driving tractor according to claim 3 is characterized in that: The clamping unit (64) comprises a fixing rod (641), a clamping block (642), a No. 3 spring (643), a clamping block (644), a No. 4 spring (645), an unlocking rod block (646) and a sliding block (647); the fixing rod (641) is fixedly connected to the side surface of the outer ring of the bearing (61); two clamping blocks (642) are provided; the No. 3 spring (643) is fixedly connected to the two clamping blocks (642); two No. 4 springs (645) are provided; and the two clamping blocks (642) are provided with grooves (642) 1), the two No. 4 springs (645) are respectively placed in the two grooves (6421), the two No. 4 springs (645) are respectively fixedly connected to the two clamping blocks (642), the clamping block (644) is slidably connected to the two grooves (6421), the unlocking rod block (646) is abutted against the clamping block (642), the sliding block (647) is fixedly connected to the clamping block (642), the fixed rod (641) is provided with a sliding groove (6411), and the sliding block (647) is slidably connected to the sliding groove (6411).

5. The steering angle measurement structure of a small crawler-type automatic driving tractor according to claim 4, characterized in that: The unlocking rod block (646) includes a connecting rod (6461) and an unlocking block (6462), wherein the connecting rod (6461) and the drive axle housing (1) are slidably connected, the connecting rod (6461) and the mounting plate (41) are slidably connected, the connecting rod (6461) and the unlocking block (6462) are fixedly connected, and the unlocking block (6462) is provided with a No. 1 inclined surface, and the distal end of the No. 1 inclined surface is a high end.

6. The steering angle measurement structure of a small crawler-type automatic driving tractor according to claim 5, characterized in that: The clamping block (644) is provided with a second inclined surface, the distal end of the second inclined surface is a low end, and the clamping block (644) is provided with two protrusions, the two protrusions being located at the clamping blocks (642) on both sides.

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