Steering structure with steering angle monitoring function

Abstract

The steering structure with the steering angle monitoring function comprises a steering axle, steering knuckles and a steering oil cylinder, the steering knuckles on the two sides are connected through a steering connecting rod, and a steering angle sensor assembly is arranged at the hinged position of the steering connecting rod and a steering arm. The steering angle sensor assembly comprises a limiting stopper, an angle sensor, a limiting plate fixedly connected with the bottom of the angle sensor and a triggering piece connected with a pin shaft at the hinged position of the steering connecting rod and the steering arm. The position of the trigger piece and the position of the pin shaft are relatively fixed, the trigger piece is embedded into the inserting groove to limit the action of the self-resetting torsion trigger unit, the angle sensor shell rotates along with the limiting plate, angle change is generated, then steering angle detection is achieved, meanwhile, the angle sensor and the pin shaft are not directly connected, and an incomplete constraint installation mode is adopted. And the angle sensor is only restrained by the limiter and the trigger piece, so that the sensor cannot be damaged under the condition that the coaxiality of the pin shaft and the sensor shaft is poor.

Description

TECHNICAL FIELD

[0001] The present application relates to a steering structure with steering angle monitoring, belonging to the technical field of aerial work platforms. BACKGROUND

[0002] In the field of aerial work platforms, the accurate detection of the steering angle not only affects the stability of the platform during aerial work, but also directly determines the control accuracy of the equipment's travel path. Such equipment often moves and works in narrow sites and rough terrain, and the milliradian-level deviation of the steering system may cause the travel trajectory to deviate, which may reduce the construction efficiency or even cause the equipment to scratch or overturn. The traditional steering angle sensor is difficult to maintain detection accuracy under high load and strong vibration in special working conditions due to structural defects, which becomes a core problem restricting the safety of equipment movement.

[0003] The mechanical connection type sensor such as D-shaped shaft in the prior art needs to maintain a high coaxiality with the steering pin shaft. However, under frequent steering and road impact (such as passing through a gravel road), the connecting part is prone to micro-deformation, causing the sensor axis to deviate. This deviation will directly distort the steering angle signal, causing the control system to misjudge the actual steering angle of the wheels. For example, in a snake-shaped moving operation, the cumulative angle deviation may cause the travel path to deviate from the predetermined trajectory by more than half a meter, forcing the operator to repeatedly correct the direction, which not only increases tire wear but also poses a collision risk. Although the square shaft design with a spring buffer can adapt to initial installation errors, the spring will permanently deform under continuous stress when the aerial platform is fully loaded. When the equipment performs a "steering + lifting" combined action (such as moving while adjusting the platform height), the gap between the sensor and the pin shaft will cause the angle signal to jump. This abnormal signal may be misidentified by the control system as an emergency steering instruction, causing a sudden change in pressure in the hydraulic power unit, resulting in a sudden deviation of the travel direction and posing a serious threat to aerial workers. Although electromagnetic / optoelectronic sensors avoid mechanical wear, they face double interference challenges: environmental interference: dust raised during travel may adhere to the surface of the sensing components, changing the characteristics of the magnetic field / light path and causing a basic deviation in the detected value; system interference: the coordinated work of the hydraulic power unit and the drive motor during equipment travel may generate wideband electromagnetic noise, causing the sensor output signal to have burrs. When these two types of interference overlap, they may cause a temporary false report of the steering angle (such as reporting 10° actual steering as 15°), causing the automatic path correction system to respond excessively and causing the travel trajectory to oscillate.

[0004] The inaccuracy of steering angle detection poses a chain of risks to aerial work platforms:

[0005] During travel: the path deviation forces frequent manual correction, which may cause side wall collisions in narrow passages; the angle deviation during long straight travel may also cause the equipment to "run off track", accelerating the one-sided wear of the tires;

[0006] Working stage: After the platform is lifted, the residual angle error will be highly magnified, affecting the accurate positioning in the air, which may cause secondary accidents in the scene of power repair;

[0007] Mode switching: When the device switches from driving mode to fine working mode, the uncorrected steering angle deviation will cause the initial pose error of the platform, increasing the leveling time and energy consumption.

[0008] The existing scheme is in a dilemma: the precise mechanical structure is difficult to withstand the working conditions of engineering machinery, and the impact-resistant design sacrifices the detection sensitivity. The aerial work platform urgently needs a steering structure with steering angle monitoring, which can adapt to the continuous vibration and impact in driving and ensure high-precision detection during operation. SUMMARY

[0009] Invention purpose: In view of the deficiencies in the prior art, the present application provides a steering structure with steering angle monitoring to solve the problems mentioned in the background art.

[0010] Technical solution: A steering structure with steering angle monitoring, comprising a steering bridge, steering knuckles respectively hinged to both ends of the steering bridge, and a steering cylinder hinged to one end of the middle part of the steering bridge and the other end of the middle part of the steering knuckle. The steering knuckles on both sides are connected by a steering connecting rod, the ends of the steering connecting rod are connected with the steering knuckles through hinged steering arms, a steering angle sensor assembly is arranged at the hinge of the steering connecting rod and the steering arm, the steering angle sensor assembly comprises a limit stop, an angle sensor, a limit plate fixedly connected with the bottom of the angle sensor, and a trigger piece connected with the hinge of the steering connecting rod and the steering arm through a pin shaft;

[0011] A protruding limit portion is arranged on the limit plate corresponding to the position of the limit stop, and the limit portion is embedded in the limit stop;

[0012] The angle sensor comprises a housing fixedly connected with the limit plate, a self-resetting torsion trigger unit installed in the housing, and a torsional spring installed on the self-resetting torsion trigger unit and abutting against the inner side of the housing;

[0013] The trigger piece is longitudinally arranged, the lower end is connected with the pin shaft, and the upper end is embedded in the slot at the lower end of the self-resetting torsion trigger unit.

[0014] The utility model discloses a limit stopper and limit board are set up, and the limit board is fixedly connected with the angle sensor as a whole, and the limit stopper is fixedly connected with the structure that rotates with the knuckle, such as knuckle, steering arm and the like, and extends to the limit board and matches with the limiting portion and carries out the limiting, and the self-resetting torsion trigger unit in the angle sensor rotates the limit board through the steering knuckle rotation when rotating, and the lower trigger piece is fixedly opposite with the pin shaft position, and the trigger piece is embedded in the slot and restricts the action of the self-resetting torsion trigger unit, and the angle sensor shell rotates with the limit board, and the angle change is generated and the detection of the steering angle is realized, simultaneously, the angle sensor is not directly connected between the pin shaft, and is the non-complete constraint installation mode, and the constraint of the angle sensor is only the limit stopper and the trigger piece, guarantees that the pin shaft and the coaxial degree difference of sensor shaft, will not damage the sensor.

[0015] The trigger piece is connected with the slot gap of the self-resetting torsion trigger unit.

[0016] The self-resetting torsion trigger unit is under the action of the torsion spring, and the torsion spring generates pre-tightening force after adjusting to the initial working position, and the trigger piece is embedded, and since it is gap connection, the sensor measurement surface of the slot is tightly attached to the edge of the trigger piece, and the built-in torsion spring guarantees that the sensor measurement surface is always tightly attached to the trigger piece during the steering process, and the measurement accuracy is guaranteed.

[0017] The pin shaft is provided with a trigger piece insertion slot, the insertion slot is set along the angle bisector direction of the maximum rotation angle of the angle sensor, and the trigger piece can be detachably installed in the insertion slot.

[0018] The setting position of the insertion slot is set, so that the angle sensor is located at the middle value position of the measurement range after installation, so that sufficient steering angle measurement range is realized during the left and right steering of the vehicle, the detachable setting of the trigger piece improves the installation convenience, and the installation of the sensor assembly is more rapid and convenient.

[0019] It also includes a mounting seat fixedly connected with the knuckle, a through hole is formed at the position corresponding to the trigger piece of the mounting seat to provide a rotating space for the rotation of the trigger piece, and a protective limiting shell is buckled on the mounting seat, and the angle sensor is arranged in the protective limiting shell.

[0020] The special mounting seat is arranged, the mounting seat is fixedly connected with the knuckle, the mounting seat can rotate with the knuckle when the knuckle rotates, the sensor is always coaxial with the pin shaft, the protective limiting shell is buckled on the outer side of the sensor to provide a protective effect for the sensor, the service life of the sensor is improved, and the limit stopper can be installed on the mounting seat to provide a limit for the limit board.

[0021] The protective limiting shell is provided with a limiting groove at the position corresponding to the protruding limiting portion of the limit board, and the limiting portion is embedded in the limiting groove.

[0022] In order to simplify the structure, cancel the limiter, by setting the limiting groove on the protective limiting shell, embedding the limiting part into the limiting groove to limit the position of the limiting plate.

[0023] The mounting seat is arranged at intervals with the hinge joint of the steering connecting rod and the steering arm.

[0024] In order to avoid friction interference at the connection between the mounting seat and the steering connecting rod and the steering arm, the mounting seat is arranged at intervals, so that the mounting seat is suspended, the interference and influence of other structures on the angle sensor assembly are reduced, and the measurement accuracy is further improved.

[0025] Beneficial effects: the utility model discloses a limiter and limiting plate are set up, and the limiting plate is integrally connected with the angle sensor, and the limiter is fixedly connected with the structure rotating with the steering knuckle, such as the steering knuckle, the steering arm and the like, and extends to the limiting plate and is matched with the limiting part for limiting, the self-resetting torsion trigger unit in the angle sensor is rotated to drive the limiting plate to rotate through the rotation of the steering knuckle, and the lower trigger piece is fixedly connected with the pin shaft position, and the trigger piece is embedded into the slot to limit the action of the self-resetting torsion trigger unit, and the angle sensor shell rotates with the limiting plate, and the angle change is generated to realize the detection of the steering angle, simultaneously, the angle sensor and the pin shaft are not directly connected, and are in the non-complete constraint installation mode, and the constraint of the angle sensor is only the limiter and the trigger piece, so that the coaxiality difference between the pin shaft and the sensor shaft is guaranteed, and the sensor is not damaged. By setting the special mounting seat, the mounting seat is fixedly connected with the steering knuckle, can drive the mounting seat to rotate when the steering knuckle rotates, so that the sensor is always coaxial with the pin shaft, the protective limiting shell is arranged on the outside of the sensor and is buckled on the sensor to provide the protection effect for the sensor, and the service life of the sensor is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creating labor.

[0027] Fig. 1 It is a three-dimensional view of the whole steering structure of the utility model.

[0028] Fig. 2 It is a front view of the steering structure of the utility model.

[0029] Fig. 3 It is an installation structure diagram of the angle sensor and the trigger piece of the utility model.

[0030] Fig. 4 It is a structure diagram of the angle sensor of the utility model.

[0031] Fig. 5 Figure 8 is a state diagram of the angle sensor mounting protective limiting shell of the utility model.

[0032] Fig. 6 Figure 3 is a structure diagram of the torsional spring, since the torsional spring is installed inside the angle sensor, the cross-sectional view is not comprehensive, thus is shown separately. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and thus cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as a limitation on the present application.

[0035] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "on" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Below", "below" and "below" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0036] As shown in Figs. 1 to 6 A steering structure with steering angle monitoring, comprising a steering bridge 1, steering knuckles 2 respectively hinged at both ends of the steering bridge 1, and a steering cylinder 3 hinged at one end to the middle of the steering bridge 1 and at the other end to the middle of the edge of the steering knuckle 2, the steering knuckles 2 on both sides are connected through steering connecting rods 4, the steering connecting rods 4 are connected with the steering knuckles 2 through hinged steering arms 5 at both ends, a steering angle sensor assembly 6 is arranged at the hinge of the steering connecting rod 4 and the steering arm 5, the steering angle sensor assembly 6 comprises a stopper, an angle sensor 61, a limiting plate 62 fixedly connected with the bottom of the angle sensor 61, and a trigger piece 63 connected with the hinge of the steering connecting rod 4 and the steering arm 5 through a pin shaft;

[0037] The limiting plate 62 is provided with a protruding limiting part corresponding to the position of the position limiter, and the limiting part is embedded in the position limiter;

[0038] The angle sensor 61 comprises a shell 611 fixedly connected with the limiting plate 62, a self-resetting torsion trigger unit 612 installed in the shell 611, and a torsion spring 613 installed on the self-resetting torsion trigger unit 612 and abutting against the inner side of the shell 611.

[0039] The trigger piece 63 is longitudinally arranged, the lower end is connected with the pin shaft, and the upper end is embedded in the slot 614 at the lower end of the self-resetting torsion trigger unit 612.

[0040] The limiting plate 62 is fixedly connected with the angle sensor 61 as a whole, the position limiter is fixedly connected with the structure rotating with the knuckle 2, such as the knuckle 2 and the steering arm 5, and extends to the limiting plate 62 to match the limiting part for limiting, the self-resetting torsion trigger unit 612 in the angle sensor 61 is driven to rotate by the knuckle 2 rotating during rotation, the lower trigger piece 63 is fixedly connected with the position of the pin shaft, the trigger piece 63 is embedded in the slot 614 to limit the action of the self-resetting torsion trigger unit 612, the shell 611 of the angle sensor 61 rotates with the limiting plate 62, an angle change is generated to realize the detection of the steering angle, meanwhile, the angle sensor 61 is not directly connected with the pin shaft, and is in a non-complete constraint installation mode, the constraint of the angle sensor 61 is only the position limiter and the trigger piece 63, so that the sensor is not damaged under the condition that the coaxiality difference between the pin shaft and the sensor shaft is guaranteed.

[0041] In the embodiment, one end of the torsion spring 613 is embedded in the slot in the outer wall of the self-resetting torsion trigger unit 612, the other end is embedded in the slot arranged on the inner wall of the shell 611, and the positions of the two ends are fixed, the torsion spring 613 generates a pre-tightening force when the self-resetting torsion trigger unit 612 rotates, and the trigger piece 63 is always in close abutment with the slot of the self-resetting torsion trigger unit 612.

[0042] The trigger piece 63 is connected with the slot 614 of the self-resetting torsion trigger unit 612 in a clearance mode.

[0043] The self-resetting torsion trigger unit 612 is driven by the torsion spring 613, the trigger piece 63 is embedded after the torsion spring 613 generates a pre-tightening force when being adjusted to an initial working position, the sensor measurement surface of the slot 614 is tightly attached to the edge of the trigger piece 63 due to the clearance connection, the built-in torsion spring 613 ensures that the sensor measurement surface is always tightly attached to the trigger piece 63 during steering, and the measurement accuracy is guaranteed.

[0044] The pin shaft is provided with a plug-in groove 7, which is arranged along the angle bisector of the maximum rotation angle of the angle sensor 61, and the trigger piece 63 is detachably installed in the plug-in groove 7.

[0045] The setting position of the plug-in groove 7 is arranged so that the angle sensor 61 is located at the middle value position of the measurement range after installation, so that there is sufficient steering angle measurement range when the vehicle turns left and right, and the detachable arrangement of the trigger piece 63 improves the installation convenience, so that the sensor assembly is more convenient to install.

[0046] Further comprising a mounting seat 8 fixedly connected with the steering knuckle 2, the mounting seat 8 is provided with a through hole corresponding to the position of the trigger piece 63, which provides rotation space for the rotation of the trigger piece 63, and further comprising a protective limiting shell 9, which is buckled on the mounting seat 8, and the angle sensor 61 is arranged in the protective limiting shell 9.

[0047] By arranging a special mounting seat 8, the mounting seat 8 is fixedly connected with the steering knuckle 2, and can drive the mounting seat 8 to rotate with the steering knuckle 2 when the steering knuckle 2 rotates, so that the sensor is always coaxial with the pin shaft; the protective limiting shell 9 is buckled on the outside of the sensor to provide protection for the sensor, improve the service life of the sensor, and the limiter can be installed on the mounting seat 8 to provide limiting for the limiting plate 62.

[0048] The protective limiting shell 9 is provided with a limiting groove 10 corresponding to the position of the limiting part of the limiting plate 62, and the limiting part is embedded in the limiting groove 10.

[0049] In order to simplify the structure and cancel the limiter, the limiting groove 10 is arranged on the protective limiting shell 9, and the limiting part is embedded in the limiting groove 10 to limit the position of the limiting plate 62.

[0050] The mounting seat 8 is arranged at intervals with the hinge part of the steering connecting rod 4 and the steering arm 5.

[0051] In order to avoid friction interference at the connection part of the mounting seat 8 and the steering connecting rod 4 and the steering arm 5, the mounting seat 8 is arranged at intervals, so that the mounting seat 8 is suspended, reducing the interference and influence of other structures on the angle sensor 61 assembly, and further improving the measurement accuracy.

[0052] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can be referred to the method part.

[0053] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the appended claims are intended to cover all such modifications that do not depart from the true spirit and scope of the application. Therefore, the application is not limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steering structure with steering angle monitoring, comprising a steering bridge (1), steering knuckles (2) hingedly connected to both ends of the steering bridge (1), and a steering cylinder (3) hingedly connected at one end to the middle of the steering bridge (1) and at the other end to the middle of the edge of the steering knuckle (2), the steering knuckles (2) on both sides being connected by a steering connecting rod (4), and both ends of the steering connecting rod (4) being connected to the steering knuckles (2) by hinged steering arms (5), characterized in that: The hinge joint between the steering connecting rod (4) and the steering arm (5) is provided with a steering angle sensor assembly (6), which comprises a limiter, an angle sensor (61), a limiting plate (62) fixedly connected with the bottom of the angle sensor (61), and a trigger piece (63) connected with the pin shaft at the hinge joint between the steering connecting rod (4) and the steering arm (5); The limiting plate (62) is provided with a protruding limiting portion corresponding to the position of the limiter, and the limiting portion is embedded in the limiter; The angle sensor (61) comprises a housing (611) fixedly connected with the limiting plate (62), a self-resetting torsion trigger unit (612) installed in the housing (611), and a torsion spring (613) installed on the self-resetting torsion trigger unit (612) and abutting against the inner side of the housing (611); The trigger piece (63) is longitudinally arranged, the lower end is connected with the pin shaft, and the upper end is embedded in the insertion slot (614) at the lower end of the self-resetting torsion trigger unit (612).

2. A steering structure with steering angle monitoring according to claim 1, characterized in that: The trigger piece (63) is gap-connected with the insertion slot (614) of the self-resetting torsion trigger unit (612).

3. The steering structure with steering angle monitoring according to claim 1, characterized in that: The pin shaft is provided with an insertion slot (7), which is arranged along the angle bisector direction of the maximum rotation angle of the angle sensor (61), and the trigger piece (63) is detachably installed in the insertion slot (7).

4. The steering structure with steering angle monitoring according to claim 1, characterized in that: Further comprising a mounting seat (8) fixedly connected with the steering knuckle (2), the mounting seat (8) is provided with a through hole corresponding to the position of the trigger piece (63), which provides rotation space for the rotation of the trigger piece (63), further comprising a protective limiting shell (9), the protective limiting shell (9) is buckled on the mounting seat (8), and the angle sensor (61) is arranged in the protective limiting shell (9).

5. A steering structure with steering angle monitoring according to claim 4, characterized in that: The protective limiting shell (9) is provided with a limiting slot (10) corresponding to the position of the protruding limiting portion of the limiting plate (62), and the limiting portion is embedded in the limiting slot (10).

6. The steering structure with steering angle monitoring according to claim 4, characterized in that: The mounting seat (8) is arranged at intervals with the hinge joint between the steering connecting rod (4) and the steering arm (5).

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