CN102393308B - Driving robot used for automobile test - Google Patents
Driving robot used for automobile test Download PDFInfo
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- CN102393308B CN102393308B CN 201110264909 CN201110264909A CN102393308B CN 102393308 B CN102393308 B CN 102393308B CN 201110264909 CN201110264909 CN 201110264909 CN 201110264909 A CN201110264909 A CN 201110264909A CN 102393308 B CN102393308 B CN 102393308B
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Abstract
The invention belongs to the technical field of an automatic driving device used for an automobile test and relates to a driving robot used for an automobile test. The driving robot comprises an accelerator mechanical leg, a braking mechanical leg, a clutch mechanical leg and a gear shifting mechanical arm, wherein the gear shifting mechanical arm comprises a gear selecting motor and a gear shifting motor, a gear selecting shaft, a gear shifting shaft, a large arm I, a large arm II, a large arm III, a small arm I, a small arm II, two L-shaped adjusting arms, a wrist connecting rod, an elbow joint and a gear shifting rod sleeve; the elbow joint comprises an elbow joint shaft I, an elbow joint shaft II, an elbow joint shaft support I, an elbow joint shaft support II and a hinge pin. The robot can adapt to different types of vehicles with different gear shifting modes and can be used for coordination control so as to realize various working conditions of an automobile.
Description
Technical field
The present invention relates to a kind of can be in automobile test, replace mankind driver's electrodynamic type pilot instrument.Belong to automobile test servomechanism technical field.
Background technology
In recent years, the automobile pollution rapid growth, the pollution problem that causes the objectionable impurities in motor vehicle emission tail gas to cause highlights gradually.For this reason, country has enacted and enforced the content of strict automobile emissions standards with objectionable impurities in restriction tail gas.The permanance cyclic test time is long, in process of the test, the accuracy of speed tracking and repeatability precision depend on driving skills and the reaction velocity of testing crew, and the circulation speed of a motor vehicle constantly changes, testing requirements car speed error must be controlled in 2km/h, thereby can reduce the reliability of emission testing data.The noise that dynamometer machine equipment sends, the pollution of the tail gas of vehicular discharge to air ambient, long-time uninteresting driving all can cause certain injury to the driver.Therefore, need to substitute mankind driver with car test drive robot and be tested, use objectivity and accuracy that car test drive robot can the warranty test data, alleviate the fatigue of human pilot, reduce the injury of rugged surroundings to testing crew.In addition, Vehicle Driver Robot is applied to durability emission test, can also shortens test period, significantly reduce testing expenses, improve test efficiency.
Early, the Robotics data of offshore company is maintained secrecy, not external disclosure in external automobile test development starting.The company that develops this class robot mainly contains, Japan little wild Co., Ltd. (ONOSOKKI), the companies such as company such as AUTOPILOT, HORIBA, the LBECO company of the U.S., the companies such as the MIRA of Britain, Froude Consine, Anthony Best Dynamics.
No. 200410065844.0 domestic patents are to describe drive robot.It utilizes the step motor control throttle, realizes the accurate location of throttle position.Detent, clutch coupling and gear shifting manipulator are used cylinder as power source, by corresponding air valve, regulate to realize moving fast.Because the compressibility of gas is large, accurate control ratio is carried out in speed and position more difficult, and damping is undesirable.On-the-spot robot controls computing machine according to the driver behavior requirement, controls motor and cylinder and completes the cooperation between driver behavior and sequential.The throttle pedipulator of this robot is only by driven by power, in the process of carrying out in test, vehicle just travels with a certain speed per hour, if interrupt suddenly because some factor causes electric power, the throttle pedipulator of this drive robot will rest on current location so, can't lift gas pedal by the automatic recovery, for vehicle and testing crew, have certain potential safety hazard.
The topworks of car test drive robot generally includes the throttle pedipulator, braking pedipulator, clutch mechanism leg, gear shifting manipulator.Car test drive robot is divided three classes according to its type of drive, comprises hydraulic-driven, and air pressure drives and motor drives three basic forms of it.Hydraulically powered shortcoming is high for the seal request that contains the hydraulic oil element, if reveal, will cause environmental pollution, the pipeline structure complexity, and maintenance requirement is high; The gas compressibility that air pressure drives is large, and to the accurate control difficulty of speed and position, damping is poor.Motor drives can be divided into common AC/DC motor and servomotor again, and common AC/DC motor control performance is poor, and inertia is large, is difficult for accurately location; The volume of servomotor is little, and control performance is good, controls dirigibility strong, can realize the accurate control to speed and position.
The mechanical drive form of car test drive robot, can adopt pinion and-rack, and the advantage of this form is registration, and shortcoming is complex structure, and rack stroke is large, and the complete machine size is large; Angle is controlled two power rod-types, and advantage is simple in structure, non-maintaining, but controls complicated; Pulley wire formula compact conformation, dwindle machine volume, is easy to installation and maintenance, controls accurately.
Summary of the invention
For the deficiencies in the prior art, the purpose of this invention is to provide and a kind ofly can replace mankind driver, carry out automobile test, especially the electric drive robot device of vehicle durability test.It can adapt to dissimilar, and the vehicle of different gearshift forms, on the basis of vehicle not being transformed, be arranged in pilothouse, and can coordinate to control the throttle pedipulator, the braking pedipulator, clutch mechanical leg and gear shifting manipulator, follow the operating condition of test requirement, realizes the startup of automobile, gearshift, accelerate, speed stabilizing, slow down, the operating modes such as idling, complete test smoothly.Technical scheme of the present invention is as follows:
A kind of drive robot for automobile test, comprise the throttle pedipulator, the braking pedipulator, clutch mechanism leg and gear shifting manipulator, described changing gear manipulator comprises the block selecting motor, shift motor, the block selecting axle driven by step electric machine, the shifting shaft driven by gear shifting motor, large arm I, large arm II, large arm III, the forearm I, the forearm II, two L shaped regulating arms, the wrist connecting link, elbow joint and gear level sleeve, described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I, elbow joint bracing strut II and bearing pin, elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II are flexibly connected, elbow joint bracing strut I is connected with the top of large arm I and large arm II respectively by bearing pin, elbow joint bracing strut II is connected with the top of large arm III by bearing pin, elbow joint axle II and elbow joint bracing strut I are flexibly connected, the block selecting axle is connected with the bottom of large arm III by bearing pin, and large arm I and large arm II bottom are connected to shifting shaft by bearing pin, one end of forearm I is connected with the locking of elbow joint axle I, an end of forearm II is connected with the locking of elbow joint axle II, the forearm I is connected with a L-type regulating arm respectively with the forearm II other end separately, and the gear level sleeve is connected with two L shaped regulating arms respectively by the wrist connecting link.
As preferred implementation, described gear shift manipulator used in automobile test also comprises the angular displacement sensor of the movement position for obtaining sleeve, and its output is for controlling the gear shift action; The block selecting motor is connected with its reductor, and speed reducer output shaft is connected with the block selecting axle by shaft coupling; Shift motor is connected with its reductor, and speed reducer output shaft is connected with shifting shaft by shaft coupling; Be provided with the position adjustments hole of the entire length for changing forearm on two L-type regulating arms of mechanical arm; On the wrist connecting link, be provided with for regulating the adjustment hole of gear level sleeve position.
Robot of the present invention, can also comprise fixed base plate and rotary bottom plate disposed thereon, each pedipulator is arranged on rotary bottom plate, the identical corresponding drive unit drives by structure, all can trample direction along pedal and do linear reciprocating motion, described pedipulator comprises the expansion link outer tube, inner tube, spherical universal joint and make pedipulator be fixed on the clamping plate on pedal, described driver element comprises servomotor and reductor, driving stem, Compress Spring, wire rope, large pulley and small sheave, large pulley is fixedly connected with the axle sleeve of output shaft, the surface level of large pulley lower surface and small sheave is tangent, wire rope one end is wrapped on large pulley, small sheave is fixed on rotary bottom plate, by small sheave, make wire rope direction of motion vertical with the large pulley sense of rotation, the other end of wire rope and driving stem rear end are affixed, the front end of Compress Spring is fixed, and rear end is connected with the driving stem rear end, driving stem is through the bearing seat of speed reducer output shaft, and front end is connected with the nonrotational partial fixing in spherical universal joint, the expansion link inner tube of pedipulator is nonrotationally held and is connected with the spherical universal joint, the rotating part in spherical universal joint and clamping fixed connection of pedal, described servomotor and reductor are fixed on rotary bottom plate, are positioned at a side of driving stem and Compress Spring, driving stem consists of four thin bars, and the center of small sheave edge and driving stem is on a horizontal line, the driver element of each pedipulator also comprises the linear displacement transducer for detection of the displacement of driving stem, and its output is for controlling servomotor, described rotary bottom plate, for regulating the position of pedipulator driver element and corresponding pedal.
The present invention adopts driven by servomotor, and starting moment is large, and range of operation is wide, low vibration; There is higher response speed, precision and frequency; There is good control characteristic.
Gear shifting manipulator of the present invention, adopt the vertical mode of placing of servomotor, and a driving device arm moves to the left or to the right, completes the block selecting action; A driving device arm moves forwards or backwards, and completes the gearshift action.Block selecting and two motion processes of gearshift, mutually noninterfere, realized the decoupling zero of engage a gear action, it is convenient to control.
Pedipulator of the present invention adopts pulley wire mechanism, compact conformation, and in transmission power under identical condition, the space hold minimum, lightweight, the life-span is long, and cost is low, convenience quick for installation.Compress Spring, driver element has the elasticity of muscle that the people is the same; On the other hand, when electric power interrupts suddenly, can rely on the elastic force of Compress Spring self, regain rapidly and carry out pedal, the security of warranty test.
The accompanying drawing explanation
Fig. 1 is the side view of complete machine of the present invention.
Fig. 2 is the front view of complete machine of the present invention.
Fig. 3 is the vertical view of complete machine of the present invention.
Fig. 4 is the side view of clutch mechanism leg driver element.
Fig. 5 is the vertical view of detent pedipulator driver element.
Fig. 6 is the vertical view of throttle pedipulator driver element.
Fig. 7 is the front elevation of gear shifting manipulator.
Fig. 8 is the left view of gear shifting manipulator.
Fig. 9 is the vertical view of gear shifting manipulator.
Figure 10 is the right view of gear shifting manipulator.
Figure 11 is the vertical view of clutch mechanism leg.
Figure 12 is the vertical view of detent pedipulator.
Figure 13 is the vertical view of throttle pedipulator.
Comprising: complete machine fixed base plate 1, rotary bottom plate 2, rotating shaft 3, adjusting bolt 4, clutch mechanism leg driver element external part 5, the nonrotational part 6 in spherical universal joint, bearing seat 7, linear displacement transducer 8, bearing pin 9, small sheave 10, reductor fixed support 11, Compress Spring 12, driving stem 13, drive pole socket 14, servomotor 15, reductor 16, large pulley 17, axle sleeve 18, bearing 19, detent pedipulator driver element external part 20, the nonrotational part 21 in spherical universal joint, bearing seat 22, axle sleeve 23, large pulley 24, bearing pin 25, small sheave 26, reductor fixed support 27, reductor 28, servomotor 29, drive pole socket 30, driving stem 31, Compress Spring 32, linear displacement transducer 33, bearing 34, throttle pedipulator driver element external part 35, the nonrotational part 36 in spherical universal joint, bearing seat 37, axle sleeve 38, large pulley 39, reductor fixed support 40, reductor 41, servomotor 42, drive pole socket 43 Compress Springs 44, driving stem 45, linear displacement transducer 46, small sheave 47, bearing pin 48, bearing 49, clutch mechanical leg outer tube 50, retaining ring 51, clutch pedal folder 52, spherical universal joint 53, clutch mechanical leg inner tube 54, bearing 55, robot base 56, step electric machine 57, shifting shaft 58, bearing 59, shaft coupling 60, shift motor reductor 61, shift motor 62, large arm I 63, elbow joint axle II 64, elbow joint axle I 65, large arm II 66, forearm I 67, L shaped regulating arm I 68, gear level sleeve 69, L shaped regulating arm II 70, forearm II 71, bearing 72, shift selection shaft 73, shaft coupling 74, step electric machine reductor 75, wrist connecting link I 76, wrist connecting link II 77, large arm III 78, elbow joint bracing strut I 79, elbow joint bracing strut II 80, bearing pin 81, angular displacement sensor 82, braking pedipulator outer tube 83, retaining ring 84, brake pedal folder 85, spherical universal joint 86, braking pedipulator inner tube 87, throttle pedipulator outer tube 88, retaining ring 89, gas pedal folder 90, spherical universal joint 91, throttle pedipulator inner tube 92.
Embodiment
In order further to understand summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1～Fig. 3, the present invention is a kind of pulley-type drive robot, comprise robot base 1, be placed on pilot set, clutch mechanism leg driver element external part 5 inserts in clutch mechanism leg outer tube 50, clutch pedal folder 52 is connected with clutch pedal, detent pedipulator driver element external part 20 inserts in detent pedipulator outer tube 82, brake pedal folder 84 is connected with brake pedal, throttle pedipulator driver element external part external part 35 inserts in throttle pedipulator outer tube 87, throttle pedipulator pedal folder 89 is connected with gas pedal, gear shifting manipulator is connected with the automobile gear shift shift lever by gear level sleeve 69.Adjusting bolt 4 is passed rotating shaft 3, and vertical with rotary bottom plate rear portion extension, changes the length of adjusting bolt 4, and rotating shaft 3 is rotated around its axle, adjusts the angle of rotary bottom plate 2 and fixed base plate 1.Make rotary bottom plate 2 planes point to pedal of vehicles, and guarantee near normal, can reduce like this pedipulator drive unit drives motor power waste in the course of the work.The large arm I 63 of mechanical arm, large arm II 66, large arm III 78 is as far as possible vertical with fixed base plate, by changing L shaped regulating arm 68(70) length, wrist connecting link I 76, the position of wrist connecting link II 77, make the socket of gear level sleeve and gear level.The clutch pedal of vehicle, brake pedal, gas pedal and gear level are connected with the actuating station of robot, have realized its harmless installation on vehicle.
Consult Fig. 4, clutch mechanism leg driver element adopts servomotor as power source, reductor 16 hugs formula with servomotor 15 employings and is connected, and servomotor and reductor thereof are fixed on rotary bottom plate 2 by support 11, and speed reducer output shaft is connected with bearing 19 penetration types by axle sleeve 18.It is 18 affixed that large pulley 17 and speed reducer output shaft overlap, and small sheave 10 is arranged on pivot pin 9.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem 13 rear ends are affixed.Compress Spring 12 is enclosed within driving stem 13 outsides, and front end is connected with the reductor fixed support, and rear end is connected with the execution rod rear end.Driving stem consists of four thin bars, and Yu Qi center, small sheave edge, on a horizontal line, guarantees that lineoutofservice signal pull can not produce the component of other directions in transmittance process, causes the loss of power.Driving stem stretches out forward through reductor fixed support 11 and reductor shaft bearing 7.The nonrotational part 6 in spherical universal joint is affixed with execution bar external part, and clutch mechanism leg driver element external part 5 is connected with clutch mechanism leg penetration type.Consult Fig. 7, the clutch mechanism leg is by expansion link outer tube 50, inner tube 54, and spherical universal joint 53, clutch coupling presss from both sides 52 plates and forms.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the clutch pedal folder.The servomotor of clutch drive rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with clutch mechanism leg plug-in type, driving clutch pedipulator solenoidoperated cluthes pedal.Drive linear displacement transducer 8 by driving stem in clutch mechanical leg driver, obtain the position of clutch mechanism leg.The clutch coupling driver element is by regulating rotating speed and the start-stop time of servomotor, thereby the movement velocity of controlling driving stem realizes the clutch mechanism leg and reclaims the adjusting of speed, reached in automobile starting and shift process the requirement to the clutch operating speed, reduce shift process and impact, guaranteed the ride comfort of automobile starting and gearshift.
Consult Fig. 5, detent pedipulator driver element by servomotor 29 as power source, reductor 28 hugs formula with servomotor 29 employings and is connected, and servomotor and reductor thereof are connected on rotary bottom plate 2 by support solid 27, and speed reducer output shaft is connected with bearing 34 by axle sleeve 23.It is 23 affixed that large pulley 24 and speed reducer output shaft overlap, and small sheave 26 is arranged on pivot pin 25.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem rear end are affixed.Compress Spring 32 is enclosed within driving stem 31 outsides, and front end is connected with the reductor fixed support, and rear end is connected with the execution rod rear end.Driving stem stretches out forward through reductor fixed support and reductor shaft bearing.The nonrotational part 21 in spherical universal joint is affixed with execution bar external part, and rotating part 20 is connected with detent pedipulator penetration type.Consult Figure 12, the detent pedipulator is by expansion link outer tube 83, inner tube 87, and spherical universal joint 86, detent clamping plate 85 form.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the brake pedal folder.The servomotor of detent driver element rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with detent pedipulator plug-in type, drives the detent pedipulator to control brake pedal.Drive linear displacement transducer 33 by driving stem in detent pedipulator driver element, obtain the position of detent pedipulator.Detent pedipulator driver element is by controlling the rotating speed of servomotor, follow the long duration test working condition requirement, the time that regulating brake pedal folder is trampled brake pedal, change the retarded velocity in Motor Vehicle Braking Procedure, guarantees the accuracy of car speed to the working condition requirement speed tracking.
Consult Fig. 6, throttle pedipulator control device by servomotor 42 as power source, reductor 41 hugs formula with the servomotor employing and is connected, and servomotor and reductor thereof are fixed on rotary bottom plate 2 by support 40, and speed reducer output shaft is connected with bearing 37 by axle sleeve 38.It is 38 affixed that large pulley 39 and speed reducer output shaft overlap, and small sheave 47 is arranged on pivot pin 48.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem rear end are affixed.Compress Spring 44 is enclosed within driving stem 45 outsides, and front end is connected with reductor fixed support 40, and rear end is connected with execution pole socket 43.Driving stem stretches out forward through reductor fixed support and reductor shaft bearing.The nonrotational part 36 in spherical universal joint is affixed with execution bar external part, and rotating part 35 is connected with throttle pedipulator penetration type.Consult Figure 13, the throttle pedipulator is by expansion link outer tube 88, inner tube 92, and spherical universal joint 91, throttle clamping plate 90 form.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the gas pedal folder.The servomotor of accelerator drive device rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with throttle pedipulator plug-in type, drives the throttle pedipulator to control gas pedal.Drive linear displacement transducer 46 by driving stem in throttle pedipulator driver element, obtain the position of throttle pedipulator, control accurately gas pedal, realize that vehicle accelerates, the target call that speed stabilizing is travelled.
Consult Fig. 7～10, the engage a gear action can be decomposed into the action of gear selecting and two vertical direction of gearshift, need to realize the degree of freedom motion of gear level sleeve 69 both directions.Gear shifting manipulator is by gear selecting servomotor 57 and gearshift servomotor 62, shift selection shaft 73, and shifting shaft 58, large arm I 63, large arm II 66, large arm III 78, forearm I 67, forearm II 71, L shaped regulating arm I 68, L shaped regulating arm II 70, gear level sleeve 69 forms.Gear selecting servomotor 57 hugs formula with its reductor 75 and is connected, and speed reducer output shaft is connected with block selecting axle 73 by shaft coupling 74.Large arm III 78 bottoms are connected with shift selection shaft 73 by bearing pin, and top is connected with elbow joint.Large arm I 63 is connected with elbow joint with the top of large arm II 66, and its underpart connects and shifting shaft 58 by bearing pin 81.One end of forearm I 67 and forearm II 71 is by connecting hole, and with the external part elbow joint axle II 64 of elbow joint, 65 lockings of elbow joint axle I connect respectively, and the other end is connected with two L-type regulating arms respectively.Gear level sleeve 69, by wrist connecting link I 76 and II 77, is connected with two L shaped regulating arms respectively.Adjust the position adjustments hole of L-type regulating arm I 68 and II 70, can change the entire length of forearm, adjust the front and back position of gear level sleeve.Regulate the adjustment hole of wrist connecting link I 76 and II 77, can regulate the position, left and right of gear level sleeve.
Consult Fig. 9～10, elbow joint connects large arm I 63, large arm II 66 and large arm III 78.Elbow joint is by elbow joint axle II 64, elbow joint axle I 65, and elbow joint bracing strut I 79, elbow joint bracing strut II 80, bearing pin 81 forms.Elbow joint axle I 65 also can be rotated around support with elbow joint bracing strut I 79 and 80 sockets of elbow joint bracing strut II, elbow joint bracing strut I 79 is connected with the top of large arm I 63 and large arm II 66 respectively by bearing pin 81, and elbow joint bracing strut II 80 is connected with the top of large arm III 78 by bearing pin.Elbow joint axle II 64 also can rotate around it with 79 sockets of elbow joint bracing strut I, and elbow joint bracing strut I 79 is connected with large arm I 63 and large arm II 66 respectively by bearing pin 81.
Step electric machine 57 drives large arm III 78 to rotate to the left or to the right, large arm I 63 is connected with shifting shaft 58 by bearing pin with the bottom of large arm II 66, top is connected with large arm III 78 by elbow joint, and large arm I 63 and large arm II 66 are under the driving of elbow joint, along with large arm III 78 left-right rotation.Under the driving of large arm III 78, elbow joint bracing strut I 79 and elbow joint bracing strut II 80 are rotated around its bearing pin 81, drive elbow joint axle II 64, reach the tangential movement that elbow joint axle I 65 is done to the left or to the right, thereby promote forearm I 67 and II 71 tangential movement to the left or to the right, and then drive the gear level side-to-side movement by gearshift sleeve 69, realize the gear selecting action.Shift motor 62 drives large arm I 63 and II 66 to seesaw, and drives elbow joint axle II 64, and elbow joint axle I 65 is rotated around its elbow joint bracing strut 79, drives large arm III 78 and seesaws with large arm I 63 and II 66, completes the gearshift action.Large arm drives forearm to move forwards or backwards, and obtains the movement position of sleeve by angle displacement transducer 82 devices, completes the gearshift action.Gear selecting and two motion process linearities of gearshift are high, and do not interfere with each other, and have realized the decoupling zero of engage a gear action, and it is convenient to control.By L shaped regulating arm, position that can regulating sleeve, thus adapt to different vehicles of driving space.
In operating process, the length of adjusting bolt 4, the angle that can regulate removable bottom, obtain the position of pedipulator driver element and corresponding pedal, coordinates the direction of regulating the spherical universal joint, changes the length of corresponding pedipulator, realizes the installation of drive robot.
After drive robot installs on vehicle, know and teach journey, take clutch pedal as the example explanation, press down clutch pedal on earth, computing machine sends instruction and controls servomotor to the clutch mechanism leg, servomotor rotates, the wire rope that drive is wrapped on speed reducer output shaft rotates, commutate and pull driving stem by small sheave, Compress Spring, travel forward driving stem, when driving stem stretches out end while contacting with tube section outside the clutch mechanism leg, computing machine sends stop signal, and clutch mechanism leg driver element reclaims, and has obtained the stroke of clutch pedal.The acquisition of brake pedal stroke and gas pedal stroke by that analogy.
Claims (10)
1. the drive robot for automobile test, comprise the throttle pedipulator, the braking pedipulator, clutch mechanism leg and gear shifting manipulator, it is characterized in that, described changing gear manipulator comprises the block selecting motor, shift motor, the block selecting axle driven by step electric machine, the shifting shaft driven by gear shifting motor, large arm I, large arm II, large arm III, the forearm I, the forearm II, two L shaped regulating arms, the wrist connecting link, elbow joint and gear level sleeve, described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I, elbow joint bracing strut II and bearing pin, elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II are flexibly connected, elbow joint bracing strut I is connected with the top of large arm I and large arm II respectively by bearing pin, elbow joint bracing strut II is connected with the top of large arm III by bearing pin, elbow joint axle II and elbow joint bracing strut I are flexibly connected, the block selecting axle is connected with the bottom of large arm III by bearing pin, and large arm I and large arm II bottom are connected to shifting shaft by bearing pin, one end of forearm I is connected with the locking of elbow joint axle I, an end of forearm II is connected with the locking of elbow joint axle II, the forearm I is connected with a L-type regulating arm respectively with the forearm II other end separately, and the gear level sleeve is connected with two L shaped regulating arms respectively by the wrist connecting link.
2. the drive robot for automobile test according to claim 1, is characterized in that, described gear shift manipulator used in automobile test also comprises the angular displacement sensor of the movement position for obtaining sleeve, and its output is for controlling the gear shift action.
3. the drive robot for automobile test according to claim 1, is characterized in that, the block selecting motor is connected with its reductor, and speed reducer output shaft is connected with the block selecting axle by shaft coupling.
4. the drive robot for automobile test according to claim 1, is characterized in that, shift motor is connected with its reductor, and speed reducer output shaft is connected with shifting shaft by shaft coupling.
5. the drive robot for automobile test according to claim 1, is characterized in that, is provided with the position adjustments hole of the entire length for changing forearm on two L-type regulating arms of mechanical arm; On the wrist connecting link, be provided with for regulating the adjustment hole of gear level sleeve position.
6. the drive robot for automobile test according to claim 1, it is characterized in that, described robot device, also comprise fixed base plate and rotary bottom plate disposed thereon, each pedipulator is arranged on rotary bottom plate, the identical corresponding drive unit drives by structure, all can trample direction along pedal and do linear reciprocating motion, described pedipulator comprises the expansion link outer tube, inner tube, spherical universal joint and make pedipulator be fixed on the clamping plate on pedal, described driver element comprises servomotor and reductor, driving stem, Compress Spring, wire rope, large pulley and small sheave, large pulley is fixedly connected with the axle sleeve of output shaft, the surface level of large pulley lower surface and small sheave is tangent, wire rope one end is wrapped on large pulley, small sheave is fixed on rotary bottom plate, by small sheave, make wire rope direction of motion vertical with the large pulley sense of rotation, the other end of wire rope and driving stem rear end are affixed, the front end of Compress Spring is connected with the reductor fixed support, and rear end is connected with the driving stem rear end, driving stem is through the bearing seat of speed reducer output shaft, and front end is connected with the nonrotational partial fixing in spherical universal joint, the expansion link inner tube of pedipulator is nonrotationally held and is connected with the spherical universal joint, the rotating part in spherical universal joint and clamping fixed connection of pedal.
7. the drive robot for automobile test according to claim 6, is characterized in that, described servomotor and reductor are fixed on rotary bottom plate, is positioned at a side of driving stem and Compress Spring.
8. pulley wire-type driver robot for vehicle tests according to claim 6, is characterized in that, driving stem consists of four thin bars, and the center of small sheave edge and driving stem is on a horizontal line.
9. the drive robot for automobile test according to claim 6, is characterized in that, the driver element of each pedipulator also comprises the linear displacement transducer for detection of the displacement of driving stem, and its output is for controlling servomotor.
10. the drive robot for automobile test according to claim 6, is characterized in that, described rotary bottom plate, for regulating the position of pedipulator driver element and corresponding pedal.
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| CN 201110264909 CN102393308B (en) | 2011-09-07 | 2011-09-07 | Driving robot used for automobile test |
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| CN 201110264909 CN102393308B (en) | 2011-09-07 | 2011-09-07 | Driving robot used for automobile test |
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| CN102393308B true CN102393308B (en) | 2013-12-25 |
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| CN103913314B (en) * | 2014-04-28 | 2016-04-20 | 清华大学 | A kind of automatic driving robot |
| CN104122101B (en) * | 2014-08-11 | 2017-05-31 | 上海太鼎汽车工程技术有限公司 | A kind of high-performance autonomous driving robot for automobile test |
| CN104181924B (en) * | 2014-09-03 | 2016-09-28 | 中国科学院合肥物质科学研究院 | Automatic driving device |
| TWI588462B (en) * | 2015-11-13 | 2017-06-21 | 財團法人工業技術研究院 | Automatic driving system for manual transmission scooter |
| CN105806629B (en) * | 2016-03-24 | 2019-02-05 | 南京理工大学 | Drive robot gear shifting manipulator based on two degrees of freedom electromagnetic actuator |
| CN105865805B (en) * | 2016-05-04 | 2018-11-13 | 南京理工大学 | A kind of electromagnetic drive drive robot for automobile test |
| CN108818527B (en) * | 2018-06-06 | 2020-08-21 | 华强方特（深圳）科技有限公司 | Leg device of simulation robot |
| CN109491364B (en) * | 2018-11-19 | 2022-04-01 | 长安大学 | Driving robot system for vehicle testing and control method |
| CN110514451B (en) * | 2019-08-16 | 2021-04-27 | 天津卡达克数据有限公司 | Modular vehicle automatic driving speed control robot |
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| US4495801A (en) * | 1981-07-15 | 1985-01-29 | Mitsubishi Denki Kabushiki Kaisha | Manipulator for shifting speed changing gears in automotive vehicles |
| EP0860692A2 (en) * | 1997-02-25 | 1998-08-26 | FKI Engineering PLC | Robot for operating motor vehicle control |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
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| WO2011069669A2 (en) * | 2009-12-11 | 2011-06-16 | Maha-Aip Gmbh & Co. Kg | Actuating device for a robot driver |
| CN202267606U (en) * | 2011-09-07 | 2012-06-06 | 中国汽车技术研究中心 | Wire-coil car test drive robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202255893U (en) * | 2011-09-07 | 2012-05-30 | 中国汽车技术研究中心 | Driving executing mechanism for automobile testing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4495801A (en) * | 1981-07-15 | 1985-01-29 | Mitsubishi Denki Kabushiki Kaisha | Manipulator for shifting speed changing gears in automotive vehicles |
| EP0860692A2 (en) * | 1997-02-25 | 1998-08-26 | FKI Engineering PLC | Robot for operating motor vehicle control |
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
| WO2011069669A2 (en) * | 2009-12-11 | 2011-06-16 | Maha-Aip Gmbh & Co. Kg | Actuating device for a robot driver |
| CN202267606U (en) * | 2011-09-07 | 2012-06-06 | 中国汽车技术研究中心 | Wire-coil car test drive robot |
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| CN102393308A (en) | 2012-03-28 |
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