Wheel steering angle measuring device

Abstract

The utility model discloses a wheel steering angle measuring device, which comprises an axle connecting assembly, an angle sensor and a wheel connecting assembly, one end of the axle connecting assembly is fixedly connected with an axle, the other end of the axle connecting assembly is connected with the fixed end of the angle sensor, one end of the wheel connecting assembly is fixedly connected with a wheel, and the other end of the wheel connecting assembly is connected with the fixed end of the angle sensor. The other end of the angle sensor is connected with a measuring shaft of the angle sensor, and the measuring shaft of the angle sensor and a steering shaft of a wheel are coaxially arranged. According to the device for measuring the steering angle of the wheel, the axle connecting assembly, the angle sensor and the wheel connecting assembly are arranged, and the measuring shaft of the angle sensor and the steering shaft of the wheel are coaxially arranged, so that the measuring angle of the measuring shaft of the angle sensor is directly the steering angle of the vehicle; the angle sensor directly and stably measures the steering angle of the drive-by-wire chassis wheel, and the measurement result is accurate and reliable.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned vehicle technology, and in particular relates to a control and monitoring device for a vehicle chassis. Background Technology

[0002] As autonomous driving technology continues to develop, the accuracy and reliability requirements of the drive-by-wire chassis, as the foundation of autonomous vehicles, are becoming increasingly stringent, and the drive-by-wire steering system on the drive-by-wire chassis is of paramount importance. Currently, most drive-by-wire steering systems simply use steering motors to replace traditional manual steering.

[0003] In the aforementioned scheme, the steering motor drives the steering linkage to steer the wheels. The motor's rotation angle and the actual wheel rotation angle have an approximately linear relationship (but only an approximation). In actual use, the wheel steering angle is an estimated value, which deviates from the actual wheel rotation angle and cannot accurately reflect the actual wheel steering angle. Therefore, there is an urgent need to provide a measuring device that can be used to measure the wheel steering angle of a steer-by-wire chassis to solve the problem of inaccurate wheel steering angle in steer-by-wire chassis. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the deficiencies and defects mentioned in the background art above and provide a measuring device that can accurately and reliably measure the steering angle of the wheels of a drive-by-wire chassis.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this utility model is as follows:

[0006] A wheel steering angle measuring device includes an axle connection assembly, an angle sensor, and a wheel connection assembly. One end of the axle connection assembly is fixedly connected to the axle, and the other end is connected to the fixed end (i.e., the body of the angle sensor) of the angle sensor. One end of the wheel connection assembly is fixedly connected to the wheel, and the other end is connected to the measuring shaft of the angle sensor. The measuring shaft of the angle sensor is coaxially arranged with the steering shaft of the wheel.

[0007] In the aforementioned wheel steering angle measuring device, preferably, the axle connection assembly includes an axle mounting bracket and a sensor mounting base. The sensor mounting base is disposed on the axle mounting bracket, and the axle connection assembly is connected to the axle through the axle mounting bracket. The sensor mounting base has a through hole for the measuring shaft of the angle sensor to pass through, and the fixed end of the angle sensor is fixed in the sensor mounting base. This configuration is equivalent to providing a sensor mounting base for mounting the angle sensor on the axle mounting bracket, facilitating the connection between the angle sensor and the axle mounting bracket. Simultaneously, to ensure the connection between the measuring shaft of the angle sensor and the wheel connection assembly, a through hole needs to be provided in the sensor mounting base for the measuring shaft of the angle sensor to pass through.

[0008] In the aforementioned wheel steering angle measuring device, preferably, the axle mounting bracket is a thin sheet metal part with a thickness of less than 4mm. This thin sheet metal part possesses a certain deformation capacity under stress, which can be used to compensate for the installation error of the angle sensor's measuring shaft. However, its thickness and material must ensure that its mechanical properties meet the requirements. In this invention, the specific thickness of the thin sheet metal part can be various specifications such as 2mm or 3mm.

[0009] In the aforementioned wheel steering angle measuring device, preferably, the wheel connection assembly includes a wheel mounting bracket and a wheel adapter. The wheel adapter is mounted on the wheel mounting bracket, and the wheel connection assembly is connected to the wheel via the wheel mounting bracket. The wheel adapter is connected to the measuring shaft of the angle sensor. This arrangement is equivalent to setting a wheel adapter on the wheel mounting bracket and connecting it to the measuring shaft of the angle sensor. The structure of the wheel adapter can match the shape of a bearing, and the wheel adapter can have a groove and a connecting shaft inside for connecting to the measuring shaft of the angle sensor. A pair of wheel mounting brackets can be provided and connected to the wheel via bolts or other components.

[0010] In the aforementioned wheel steering angle measuring device, preferably, the wheel mounting bracket is a thin sheet metal part with a thickness of less than 4mm. This thin sheet metal part possesses a certain deformation capacity under stress, which can be used to compensate for the installation error of the angle sensor's measuring shaft. However, its thickness and material must ensure that its mechanical properties meet the requirements. In this invention, the specific thickness of the thin sheet metal part can be various specifications such as 2mm or 3mm.

[0011] In the aforementioned wheel steering angle measuring device, preferably, a bearing is provided between the axle connecting assembly and the wheel connecting assembly. The axle connecting assembly is fixedly connected to the inner ring of the bearing, and the wheel connecting assembly is fixedly connected to the outer ring of the bearing. The measuring shaft of the angle sensor passes through the inner hole of the bearing's inner ring and is connected to the wheel connecting assembly. Specifically, the axle mounting bracket is fixedly connected to the inner ring of the bearing, and the wheel mounting bracket is fixedly connected to the outer ring of the bearing via a wheel adapter. Since both the axle mounting bracket and the wheel mounting bracket adopt a thin sheet metal design, the torque generated by their deformation is borne by the bearing, which can significantly reduce the impact on the angle sensor. In this invention, the specific form of the bearing is not limited; for example, a crossed roller bearing can be used.

[0012] In the aforementioned wheel steering angle measuring device, preferably, the wheel connecting assembly has a groove aligned with the inner bore of the bearing. A connecting shaft for connecting to the measuring shaft of the angle sensor is provided within the groove. The measuring shaft of the angle sensor and the connecting shaft are connected by a coupling, which is located within the cavity formed by the groove and the inner bore of the bearing. The groove can be located on a wheel adapter. The measuring shaft and the connecting shaft of the angle sensor are connected by a coupling. The coupling can eliminate errors caused by misalignment of the two shafts (such as installation errors) through its own deformation. Furthermore, the coupling itself is relatively flexible, and its deformation will not exert unbearable torque on the angle sensor, thus protecting the angle sensor and ensuring its stable and reliable operation. In this invention, the specific form of the coupling is not limited; conventional equipment from the prior art can be used.

[0013] This invention relates to a wheel steering angle measuring device that solves the problem of inaccurate wheel steering angle in drive-by-wire chassis. The axle mounting bracket, sensor mounting seat, and angle sensor are fixedly mounted to the inner ring of the bearing. The wheel adapter and wheel mounting bracket are fixedly mounted to the outer ring of the bearing. A coupling connects the measuring shaft of the angle sensor to the connecting shaft on the wheel adapter. When the wheel turns, the vehicle drives the wheel mounting bracket, wheel adapter, outer ring of the bearing, connecting shaft, coupling, and measuring shaft of the angle sensor to rotate together. The axle mounting bracket, the fixed end of the angle sensor, the sensor mounting seat, and the inner ring of the bearing are fixed to the axle. The measuring shaft of the angle sensor is coaxial with the wheel's steering shaft. When the wheel turns, it directly drives the measuring shaft of the angle sensor to rotate, and the actual steering angle of the wheel can be directly measured by the rotation of the measuring shaft.

[0014] In this invention, the steering shaft of the wheel is often not exposed and needs to be connected to it using a bracket. For example, the connecting shaft of the wheel adapter is essentially an extension of the wheel steering shaft. However, this extension inevitably contains errors. If the measuring shaft of the angle sensor is directly connected to the connecting shaft of the wheel adapter, the angle sensor may be damaged due to the aforementioned errors. To avoid damaging the angle sensor, this invention incorporates the following design features: 1. The axle mounting bracket fixed to the axle and the wheel mounting bracket fixed to the wheel are designed as thin sheet metal parts. This allows the axle mounting bracket and wheel mounting bracket to deform to a certain extent, offsetting the aforementioned errors. 2. The axle mounting bracket and wheel mounting bracket, respectively fixed to the axle and wheel, are connected by crossed roller bearings. This way, the torque generated by the deformation of the axle mounting bracket and wheel mounting bracket due to errors is borne by the crossed roller bearings, significantly reducing the impact on the angle sensor. 3. The measuring shaft of the angle sensor is connected to the connecting shaft of the wheel adapter via a coupling. The coupling can eliminate errors caused by misalignment of the two shafts through its own deformation. Furthermore, the coupling itself is relatively flexible, and its deformation will not exert unbearable torque on the angle sensor, thus protecting the angle sensor and ensuring its stable and reliable operation. Through the above design, the wheel steering angle measuring device of this invention can stably, reliably, and accurately measure the wheel steering angle of a drive-by-wire chassis.

[0015] Compared with the prior art, the advantages of this utility model are:

[0016] The wheel steering angle measuring device of this utility model is configured with an axle connection assembly, an angle sensor, and a wheel connection assembly. The angle sensor is connected to the axle and the wheel respectively through the axle connection assembly and the wheel connection assembly, and the measuring axis of the angle sensor is coaxial with the steering axis of the wheel. In this way, the measuring angle of the measuring axis of the angle sensor is directly the vehicle steering angle. In the absence of a reserved installation position for the angle sensor, the structural design of this utility model enables the angle sensor to directly and stably measure the wheel steering angle of the drive-by-wire chassis, and the measurement result is accurate and reliable. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the wheel steering angle measuring device in the embodiment.

[0019] Figure 2This is a schematic diagram of the internal structure of the wheel steering angle measuring device in the embodiment.

[0020] Figure 3 This is a schematic diagram of the structure of the wheel steering angle measuring device connected to the axle and wheel in the embodiment.

[0021] Legend

[0022] 1. Axle mounting bracket; 2. Angle sensor; 21. Fixed end; 22. Measuring shaft; 3. Sensor mounting base; 4. Bearing; 5. Wheel adapter; 6. Wheel mounting bracket; 7. Coupling; 8. Connecting shaft; 100. Axle; 200. Wheel. Detailed Implementation

[0023] To facilitate understanding of this utility model, it will be described more comprehensively and in detail below with reference to the accompanying drawings and preferred embodiments. However, the scope of protection of this utility model is not limited to the following specific embodiments.

[0024] It should be noted that when a component is described as being "fixed to, attached to, connected to or connected to" another component, it can be directly fixed to, attached to, connected to or connected to the other component, or it can be indirectly fixed to, attached to, connected to or connected to the other component through other intermediate connectors.

[0025] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of protection of this invention.

[0026] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0027] Example:

[0028] like Figures 1-3 As shown, the wheel steering angle measuring device of this embodiment includes an axle connection assembly, an angle sensor 2, and a wheel connection assembly. One end of the axle connection assembly is fixedly connected to the axle 100, and the other end is connected to the fixed end 21 of the angle sensor 2. One end of the wheel connection assembly is fixedly connected to the wheel 200, and the other end is connected to the measuring shaft 22 of the angle sensor 2. The measuring shaft 22 of the angle sensor 2 is coaxially arranged with the steering shaft of the wheel 200.

[0029] In this embodiment, specifically, the axle connection assembly includes an axle mounting bracket 1 and a sensor mounting base 3. The sensor mounting base 3 is disposed on the axle mounting bracket 1. The axle connection assembly is connected to the axle 100 through the axle mounting bracket 1. The sensor mounting base 3 has a through hole for the measuring shaft 22 of the angle sensor 2 to pass through. The fixed end 21 of the angle sensor 2 is fixed in the sensor mounting base 3.

[0030] In this embodiment, specifically, the wheel connection assembly includes a wheel mounting bracket 6 and a wheel adapter 5. The wheel adapter 5 is disposed on the wheel mounting bracket 6. The wheel connection assembly is connected to the wheel 200 through the wheel mounting bracket 6, and the wheel adapter 5 is connected to the measuring shaft 22 of the angle sensor 2.

[0031] In this embodiment, the axle mounting bracket 1 is a thin sheet metal part with a thickness of 3mm. The wheel mounting bracket 6 is also a thin sheet metal part with a thickness of 3mm. In other embodiments, the thickness of the thin sheet metal part can be other thicknesses.

[0032] In this embodiment, a bearing 4 is provided between the axle connecting assembly and the wheel connecting assembly. The inner ring of the axle connecting assembly and the bearing 4 are fixedly connected, and the outer ring of the wheel connecting assembly and the bearing 4 are fixedly connected. The measuring shaft 22 of the angle sensor 2 passes through the inner hole of the bearing 4 and is connected to the wheel connecting assembly. Specifically, a crossed roller bearing is provided between the axle mounting bracket 1 and the wheel adapter seat 5. The inner ring of the axle mounting bracket 1 and the bearing 4 are fixedly connected, and the outer ring of the bearing 4 is fixedly connected. The measuring shaft 22 of the angle sensor 2 passes through the inner hole of the bearing 4 and is connected to the wheel adapter seat 5.

[0033] In this embodiment, the wheel adapter seat 5 of the wheel connecting assembly is provided with a groove, which is aligned with the inner hole of the inner ring of the bearing 4. A connecting shaft 8 for connecting to the measuring shaft 22 of the angle sensor 2 is provided in the groove. The measuring shaft 22 of the angle sensor 2 and the connecting shaft 8 are connected by a coupling 7, which is located in the cavity formed by the groove and the inner hole of the inner ring of the bearing 4.

[0034] The wheel steering angle measuring device in this embodiment can solve the problem of inaccurate wheel steering angle in a drive-by-wire chassis. The axle mounting bracket 1, sensor mounting seat 3, and angle sensor 2 are fixedly mounted to the inner ring of bearing 4. The wheel adapter seat 5 and wheel mounting bracket 6 are fixedly mounted to the outer ring of bearing 4. Coupling 7 connects the measuring shaft 22 of angle sensor 2 to the connecting shaft 8 on wheel adapter seat 5. When wheel 200 turns, the vehicle drives wheel mounting bracket 6, wheel adapter seat 5, outer ring of bearing 4, connecting shaft 8, coupling 7, and measuring shaft 22 of angle sensor 2 to rotate together. The axle mounting bracket 1, the fixed end 21 of angle sensor 2, sensor mounting seat 3, and inner ring of bearing 4 are fixed to the axle 100. The measuring shaft 22 of angle sensor 2 is coaxial with the steering shaft of wheel 200. When wheel 200 turns, it directly drives the measuring shaft 22 of angle sensor 2 to rotate. The actual steering angle of wheel 200 can be directly measured through the rotation of the measuring shaft 22 of angle sensor 2, and the measurement result is accurate and reliable.

[0035] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A device for measuring wheel steering angle, characterized in that, The system includes an axle connection assembly, an angle sensor (2), and a wheel connection assembly. One end of the axle connection assembly is fixed to the axle (100), and the other end is connected to the fixed end (21) of the angle sensor (2). One end of the wheel connection assembly is fixed to the wheel (200), and the other end is connected to the measuring shaft (22) of the angle sensor (2). The measuring shaft (22) of the angle sensor (2) is coaxially arranged with the steering shaft of the wheel (200).

2. The measuring device according to claim 1, characterized in that, The axle connection assembly includes an axle mounting bracket (1) and a sensor mounting base (3). The sensor mounting base (3) is disposed on the axle mounting bracket (1). The axle connection assembly is connected to the axle (100) through the axle mounting bracket (1). The sensor mounting base (3) has a through hole for the measuring shaft (22) of the angle sensor (2) to pass through. The fixed end (21) of the angle sensor (2) is fixed in the sensor mounting base (3).

3. The measuring device according to claim 2, characterized in that, The axle mounting bracket (1) is a thin sheet metal part with a thickness of less than 4mm.

4. The measuring device according to claim 1, characterized in that, The wheel connection assembly includes a wheel mounting bracket (6) and a wheel adapter (5). The wheel adapter (5) is mounted on the wheel mounting bracket (6). The wheel connection assembly is connected to the wheel (200) through the wheel mounting bracket (6). The wheel adapter (5) is connected to the measuring shaft (22) of the angle sensor (2).

5. The measuring device according to claim 4, characterized in that, The wheel mounting bracket (6) is a thin sheet metal part with a thickness of less than 4mm.

6. The measuring device according to any one of claims 1-5, characterized in that, A bearing (4) is provided between the axle connection assembly and the wheel connection assembly. The inner ring of the axle connection assembly and the bearing (4) are fixedly connected, and the outer ring of the wheel connection assembly and the bearing (4) are fixedly connected. The measuring shaft (22) of the angle sensor (2) passes through the inner hole of the inner ring of the bearing (4) and is connected to the wheel connection assembly.

7. The measuring device according to claim 6, characterized in that, The wheel connection assembly is provided with a groove, which is aligned with the inner hole of the bearing (4). A connecting shaft (8) is provided in the groove for connecting with the measuring shaft (22) of the angle sensor (2). The measuring shaft (22) of the angle sensor (2) and the connecting shaft (8) are connected by a coupling (7). The coupling (7) is located in the cavity formed by the groove and the inner hole of the bearing (4).

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