Automatic robot driver
What the present invention relates to is the device in a kind of vehicle drive field, specifically a kind of automatic robot driver that can replace the mankind to complete driving task.
The appearance of vehicle is very easy to people's production and life, but drives and tend to allow driver tired out for a long time, has consumed a large amount of time and efforts of people.Therefore,, along with the development of intelligent and automatic technology, people more and more thirst for driving task Neng Wei robot and replace.In addition, at each working condition experimenting of vehicle, in experiments such as economy, dynamic property, permanance, all need long repeatable operation process, the data information that provides the limit to drive is also provided sometimes.If can make human body produce that many discomforts even damage and dangerous by manually completing these experiments completely.The appearance of drive robot can be fine address this problem.It can not only substitute and manually complete various experimental duties, and stability is high, reproducible, has become requisite intelligent device in modern vehicle test.
Through the existing document of retrieval, find, Chinese Patent Application No. is CN200410065844.0, and the patent that name is called " gas electric hybrid type driving robot for automobile test " discloses by three kinds of driving legs, gear shifting manipulator, bearing circle stationary installation, drive robot and controlled the pilot instrument that computing machine, gear shifting manipulator control box, driving leg control box, data acquisition and processing module and motion control drive division grade and form.Described drive robot, after receiving the signal of controlling computer settings, can complete corresponding action, therefore can replace to a certain extent driver to complete vehicle performance test.But also there are some defects in this patent.First, in this invention, by specific stationary installation, bearing circle is fixed, so the rotation of the uncontrollable steering wheel for vehicle of system, this makes the scope of application of this robot have certain limitation.In addition, in this system, used pneumatic means, therefore need to be equipped with source of the gas.On the one hand, the appearance of source of the gas has increased the weight and volume of system, and on the other hand, pneumatic means also can increase complexity and the manufacturing cost of system.Meanwhile, due to reasons such as gas leakage, the positioning precision of pneumatic means is often not fully up to expectations, and then affects the control accuracy of this drive robot to vehicle, and pneumatic means tends to send noise in the course of the work.
Summary of the invention
Technical matters to be solved by this invention is to propose a kind of automatic robot driver brand-new, that structure is more optimized, solves the various defects that deficiency that existing automatic robot driver scope of application limitation is large and pneumatic means are introduced.
The technical solution adopted in the present invention is: a kind of automatic robot driver, comprises body part, visual signal collecting part, bearing circle control section, gearshift part and driving leg part; Described body partly comprises base, be supported on base and the horizontal slip platform that base moves forward and backward relatively, for by the horizontal lock mechanism of the relative base locking of horizontal slip platform, be arranged on upright slide rail on horizontal slip platform, be slidably arranged in upright slide block on upright slide rail, for by the vertical locking mechanism of the relative upright slide rail locking of upright slide block, described bearing circle control section is connected with described upright slide block.
Preferably, rotate and be provided with position adjustment handle on described base, described position is adjusted handle one end and is fixed with gear; On described horizontal slip platform, be provided with tooth bar, above-mentioned rack and pinion forms pinion and rack.Described body is partly connected with one group of two parallel-crank mechanism, and described pair of parallel-crank mechanism is connected with gearshift part; Described pair of parallel-crank mechanism has the rotational freedom of two surface levels, and the middle connection rotating shaft place of two parallel-crank mechanisms is provided with eccentric wheel locking mechanism, and the eccentric wheel excircle of described eccentric wheel locking mechanism can lock the revolute pair of described pair of parallel-crank mechanism.
Described vision collecting partly comprises head, the first worm couple, the second worm couple, gear case, the first motor, the second motor and stationary installation; Described stationary installation is two that are arranged symmetrically with, be fixedly attached to respectively body part, in one of them stationary installation, be provided with the first motor, described the first motor is connected with the worm screw of the first worm couple, and the worm gear of the first worm couple is fixedly connected with gear case, described gear case is also rotationally connected with another stationary installation; Described the second motor is fixed in gear case, and is connected with the worm screw of the second worm couple, and the worm gear of the second worm couple is fixedly connected with head.
Described bearing circle control section comprises locking mechanism, actuating unit, chuck mechanism and manipulator mechanism; Described actuating unit comprises the 3rd motor, the speed reduction unit and the scrambler that are connected with the 3rd motor; Chuck mechanism is connected with speed reduction unit; Described manipulator mechanism is three, and can be along the radial motion of described chuck mechanism.Described locking mechanism comprises fixture, spiral handle, slide block and guideway; Described fixture is partly connected with body, and described guideway is fixedly connected with actuating unit; Described slide block slides and is plugged in guideway, and described spiral handle has screw thread, and is threaded with described slide block, and described fixture turning set is located on spiral handle; Described slide block have with fixture against working position, the now relative guideway of fixture locking.Described manipulator mechanism comprises spiral knob, threaded guide rod, pedestal, two grippers, two mechanical arm connecting rods; Described threaded guide rod is plugged in the unthreaded hole of pedestal, and is threaded with spiral knob; Described gripper is rotatably connected on pedestal, and mechanical arm connecting rod one end connects gripper, the other end connects threaded guide rod.
Described gearshift partly comprises web joint, sleeve, front driving lever, rear driving lever, four connecting rods; Described web joint connects described gearshift part and body part; Described front driving lever, rear driving lever drive by driven by motor worm couple; Described front driving lever and rear driving lever form one and have the binary linkage assembly of plane together with four connecting rods; On described linkage assembly, be connected with sleeve.Described sleeve has opening down, slides and is provided with sliding cylinder in described opening, and sliding cylinder is connected with the shift handle of vehicle, between the top of described sliding cylinder and sleeve, by spring, is connected.
Described driving leg partly comprises housing, cap, motor cabinet, speed reducer base, driving leg stepper motor, driving leg speed reduction unit, taper gear pair, rear axle, straight spur gear pair, front axle, abutment sleeve, rocking bar, driving leg connecting rod, driving leg leg pedal; Described housing and body partial fixing; Described motor cabinet and speed reducer base are fixed on housing, and described driving leg stepper motor is connected with driving leg speed reduction unit; Described driving leg speed reduction unit is connected with rear axle by taper gear pair; Described rear axle is connected with front axle by straight spur gear is secondary; Front axle is connected with rocking bar by spline; One end of described driving leg pedal and connecting rod is hinged, and the other end and the rocking bar of described connecting rod are rotationally connected.
The beneficial effect that the present invention reaches is: this patent can be realized needed basic operation in vehicle drive process, as step on the gas, brake, stepping on clutch, gearshift, veer dish etc.Meanwhile, this invention also has good adaptability, and it can adapt to the vehicle with differing heights and big or small bearing circle; And the present invention does not relate to pneumatic means, not only reduce noise, and improve control accuracy.In addition, this automatic robot driver does not in use need vehicle to carry out any repacking, therefore can guarantee the integrality of vehicle structure.
Accompanying drawing explanation
By the more specifically explanation of the preferred embodiments of the present invention shown in accompanying drawing, above-mentioned and other object of the present invention, Characteristics and advantages will be more clear.In whole accompanying drawings, identical Reference numeral is indicated identical part.Deliberately by physical size equal proportion convergent-divergent, do not draw accompanying drawing, focus on illustrating purport of the present invention.
Fig. 1 is a kind of one-piece construction figure of automatic robot driver;
Fig. 2 is the structural representation of body part in Fig. 1;
Fig. 3 is the structural representation of vision collecting part;
Fig. 4 is the structural representation of bearing circle control section;
Fig. 5 is the structural representation of the locking mechanism of bearing circle control section;
Fig. 6 is the structural representation of the manipulator mechanism of bearing circle control section;
Fig. 7 is the structural representation of gearshift part;
Fig. 8 is the vertical view of gearshift part;
Fig. 9 is the structural representation of driving leg part;
Wherein: 1, body part, 2, visual signal collecting part, 3, bearing circle control section, 4, gearshift part, 5, driving leg part, 6, base, 7, horizontal slip platform, 8, handle, 9 are adjusted in position, pinion and rack, 10, the horizontal locking mechanism of spiral, 11, upright slide rail, 110, upright slide block, 111, steering wheel operating mechanism cantilever, 112, framework, 12, slide rail locking mechanism, 13, two parallel-crank mechanisms, 14, eccentric wheel locking mechanism, 15, head, 16, the first worm couple, 17, the second worm couple, 18, gear case, 19, the first motor, 20, the second motor, 21, stationary installation, 22, locking mechanism, 23, actuating unit, 24, chuck mechanism, 25, manipulator mechanism, 26, spiral handle, 27, slide block, 28, guideway, 29, fixture, 30, the 3rd motor, 31, speed reduction unit, 32, scrambler, 33, spiral knob, 34, threaded guide rod, 35, pedestal, 36, gripper, 37, mechanical arm connecting rod, 38, web joint, 39, the 4th motor, 40, sleeve, 41, the 3rd worm couple, 42, front driving lever, 43, rear driving lever, 44, sliding cylinder, 45, housing, 46, cap, 47, motor cabinet, 48, speed reducer base, 49, driving leg stepper motor, 50, driving leg speed reduction unit, 51, taper gear pair, 52, rear axle, 53, straight spur gear is secondary, and 54, front axle, 55, abutment sleeve, 56, rocking bar, 57, driving leg front bar, 58, driving leg pedal.
A kind of automatic robot driver embodiment the present invention being proposed below with reference to accompanying drawing is described in detail.
The one-piece construction figure of a kind of automatic robot driver shown in Figure 1, this automatic robot driver is mainly comprised of following five parts: body part 1, visual signal collecting part 2, bearing circle control section 3, gearshift part 4 and driving leg part 5.
Shown in Fig. 2, described body part 1 is adjusted handle 8, pinion and rack 9, the horizontal locking mechanism 10 of spiral, upright slide rail 11, upright slide block 110, slide rail locking mechanism 12, two parallel-crank mechanism 13, eccentric wheel locking mechanism 14 etc. by base 6, horizontal slip platform 7, position and is formed.Base 6 is a rectangular box, by bolt, is connected with specific bracing frame, and for different vehicles, bracing frame should design respectively, so that robot can be securely in place driver's seat top.Horizontal slip platform 7 sleeves, in base 6, are supported by the pulley blocks being arranged on base 6; On base 6, rotate and be provided with position adjustment handle 8, position is adjusted handle 8 one end and is fixed with gear, on horizontal slip platform 7, be furnished with tooth bar, above-mentioned rack and pinion forms pinion and rack 9, make user adjust handle 8 by turn position, driven wheel tooth bar mechanism 9, can realize moving forward and backward of horizontal slip platform 7 relative bases 6; And in base 6, be provided with the horizontal locking mechanism 10 of spiral, the lock handle of the horizontal locking mechanism 10 of user's turn spiral, by the horizontal locking mechanism of spiral 10 and horizontal slip platform 7 closely against, can make the relative base 6 of horizontal slip platform 7 lock.Above-mentioned fore-and-aft direction, and upper and lower, the left and right directions mentioned hereinafter, be all after this automatic robot driver is fixed on driver's seat, the front and back of driver's seat, upper and lower, left and right directions.
Upright slide rail 11 is arranged on horizontal slip platform 7, can move forward and backward together along with horizontal slip platform 7.On upright slide rail 11, slide and be provided with upright slide block 110, described upright slide block 110Yu steering wheel operating mechanism cantilever 111 is connected, and makes bearing circle control section 3 can adjust up and down position.Equally, upright slide rail 11 is set up slide rail locking mechanism 12 for stoping the relative sliding of 11 of upright slide block 110 and upright slide rails.With on the fixing framework 112 of upright slide rail 11, be also connected with one group of two parallel-crank mechanism 13, this pair of parallel-crank mechanism 13 connects gearshift parts 4.Described pair of parallel-crank mechanism 13 has the rotational freedom of two surface levels, therefore can on surface level, adjust arbitrarily the position of gearshift part 4.And the middle connection rotating shaft place of two parallel-crank mechanisms 13 is provided with eccentric wheel locking mechanism 14, the revolute pair of the two parallel-crank mechanisms 13 of eccentric wheel excircle locking of described eccentric wheel locking mechanism 14, thereby lock whole pair of parallel-crank mechanism 13, so that gearshift part 4 location.
When robot is installed, first user needs orientation dish control section 3.By position of rotation, adjust handle 8, driven gear rack mechanism 9, user adjusts the front and back position of horizontal slip platform 7; And upright slide rail 11 is directly installed on horizontal slip platform 7, therefore the bearing circle control section 3 being connected with upright slide block 110 is along with horizontal slip platform 7 moves forward and backward.Now, upright slide block 110 still can, in the interior slip of upright slide rail 11, make bearing circle control section 3 also can freely adjust upper-lower position.Until the handgrip of bearing circle control section 3, firmly hold after bearing circle, the handle of the horizontal locking mechanism 10 of user's turn spiral and the handle of slide rail locking mechanism 12, the location that completes bearing circle control section 3.Subsequently, user should locate gearshift part 4.Body part 1 is connected by one group of two parallel-crank mechanism 13 with gearshift part 4, this pair of parallel-crank mechanism 13 has the enough rigidity part 4 maintenance levels that make to shift gears, user accurately adjusts behind gearshift part 4 positions, can be by rotating the revolute pair of the two parallel-crank mechanisms 13 of handle compression on eccentric wheel locking mechanism 14, the connecting link of two parallel-crank mechanisms 13 cannot be relatively rotated, complete the location of gearshift part.
Shown in Fig. 3, described vision collecting part is mainly comprised of head 15, the first worm couple 16, the second worm couple 17, gear case 18, the first motor 19, the second motor 20, stationary installation 21 etc.Described stationary installation 21 is two that are arranged symmetrically with, be fixedly attached to respectively on the framework 112 of body part 1, in one of them stationary installation 21, be provided with the first motor 19, the first motor 19 is connected with the worm screw of the first worm couple 16 by shaft coupling, and the worm gear of the first worm couple 16 is fixedly connected with gear case 18, gear case 18 is also rotationally connected with another stationary installation 21.The second motor 20 is fixed in gear case 18, and is connected with the worm screw of the second worm couple 17 by shaft coupling, and the worm gear of the second worm couple 17 is fixedly connected with head 15.When control system, send instruction when controlling the first motor 19 and rotating, the axle of these the first motor 19 driven gear casees 18 worm gear in the first worm couple 16 rotates, therefore head 15 can swing.When control system, send instruction when controlling the second motor 20 and rotating, this motor is delivered to head 15 by rotation by the second worm couple 17, and then head 15 is realized left-right rotation.By with upper type, robotic vision signals collecting part 2 can obtain wider visual signal.
Shown in Fig. 4, described bearing circle control section 3 is mainly comprised of locking mechanism 22, actuating unit 23, chuck mechanism 24 and manipulator mechanism 25.Actuating unit 23 is comprised of the 3rd motor 30, speed reduction unit 31 and scrambler 32, the power resources that this actuating unit 23 is rotating of steering wheel.The structure of chuck mechanism 24 and the scroll chuck structure on lathe are similar, and when turn knob, the parcel in chuck mechanism 24 rotates, and drives three manipulator mechanisms 25 to do synchronous radial motion.Chuck mechanism 24 is connected with the output shaft of the 3rd motor 30 by speed reduction unit 31, and when output shaft drives parcel to rotate, three manipulator mechanisms 25 are done radial motion simultaneously, so that drive robot adapts to the different bearing circle of diameter.
Shown in Fig. 5, described locking mechanism 22 is comprised of fixture 29, spiral handle 26, slide block 27 and guideway 28.Fixture 29 is connected with the upright slide block 110 of body part 1, and when upright slide block 110 moves up and down, bearing circle control section 3 integral body also move up and down, and make this drive robot can adapt to the vehicle with differing heights bearing circle.Described guideway 28 is fixedly connected with actuating unit 23, described slide block 27 slides and is plugged in guideway 28, screw thread is arranged at the bar top of spiral handle 26, realize worm drive with slide block 27, the bar bottom of spiral handle 26 can be polished rod, described fixture 29 turning sets are located on polished rod, realize thus fixture 29 rotating relative to guideway 28.When automatically
When drive robot is installed on vehicle, due to hinged existence, bearing circle control gear 3 can rotate around the polished rod of spiral handle 26, adapts to the different bearing circle in pitch angle.When rotating spiral handle 26, slide block 27 slides in guideway 28, with fixture 29 against, and the relative guideway 28 of fixture 29 is locked.
Shown in Fig. 6, each manipulator mechanism 25 comprises spiral knob 33, threaded guide rod 34, pedestal 35, two grippers 36, two mechanical arm connecting rods 37.Threaded guide rod 34 is plugged in the unthreaded hole of pedestal 35, and is threaded with spiral knob 33, and gripper 36 is rotatably connected on pedestal 35, and mechanical arm connecting rod 37 one end connect gripper 36, the other end connects threaded guide rod 34.When turn spiral knob 33, threaded guide rod 34 is flexible in the unthreaded hole of pedestal 35, and 37 actions of driving mechanical hand connecting rod, and then drive the folding of two grippers 36.By this process, just can make manipulator mechanism 25 clamp the bearing circle of different thicknesses, guaranteed the control accuracy of robot to bearing circle.By a spiral knob 33, control the flexible of threaded guide rod 34, and then by the folding of mechanical arm connecting rod 37 driving mechanical pawls 36, realize the object of the bearing circle of clamping different thicknesses.In the inner side of gripper 36, adhere to one deck elastomeric material, with increasing friction force, guaranteed transmitting accuracy.
Shown in Fig. 7 and Fig. 8, described gearshift part 4 comprises web joint 38, the 4th motor 39, sleeve 40, the 3rd worm couple 41, front driving lever 42, rear driving lever 43 etc.Web joint 38 links together whole gearshift part 4 and two parallel-crank mechanisms 13 of body part 1, and body part 1 moves up and down relatively, to meet the different shift handle requirement for height of different cars.Described the 4th motor 39 drives the 3rd worm couple 41 motions, and then before driving, driving lever 42 rotates, and rear driving lever 43 is driven by another motor and worm couple (not shown).Described front driving lever 42 and rear driving lever 43 form one and have the binary linkage assembly of plane together with other four connecting rods, two driving levers receive motion and the torque that drive part passes over, and drive this linkage assembly orbiting motion according to the rules.On described linkage assembly, be connected with sleeve 40, described sleeve 40 has opening down, and slide and be provided with sliding cylinder 44 in opening, sliding cylinder 44 is connected with the shift handle of vehicle, between the top of described sliding cylinder 44 and sleeve 40, by spring, be connected, spring can be offset the upper and lower micro-displacement of handle head in shift handle motion process.Whole gearshift part 4 is controlled according to the situation of Vehicle Driving Cycle by electronic equipment.
Shown in Fig. 9, described driving leg part 5 comprises housing 45, cap 46, motor cabinet 47, speed reducer base 48, driving leg stepper motor 49, driving leg speed reduction unit 50, taper gear pair 51, rear axle 52, straight spur gear pair 53, front axle 54, abutment sleeve 55, rocking bar 56, driving leg connecting rod 57, driving leg leg pedal 58 etc.Housing 45 is fixing by bolt and body part 1, and cap 46 can reduce dust impact, and improves aesthetic property.Motor cabinet 47 is fixed on housing 45 with speed reducer base 48, and driving leg stepper motor 49 and driving leg speed reduction unit 50 are linked together, and whole mechanism is by handling the rotating speed of stepper motor and movement velocity and the displacement that the number of turns is carried out control pedal.Both combinations have realized slowing down and have increased square, and enough control accuracy and driving forces can be provided.Driving leg speed reduction unit 50 by taper gear pair 51 by transmission of power to rear axle 52, and change transmission direction.A conical gear in taper gear pair 51 is connected with rear axle 52 by spline.Straight spur gear pair 53 by the transmission of power of rear axle 52 to front axle 54.Front axle 54 is connected with rocking bar 56 with abutment sleeve 55 by spline.Spline joint, can move along front axle 54 rocking bar 56, coordinates to adapt to different pedal positions from the abutment sleeve 55 of different length.When needs are controlled throttle, driving leg pedal 58 is connected with gas pedal by elastic threads, and by hinged mode, is connected to one end of connecting rod 57, can obtain good pliability and the adaptability to multi-form pedal.The other end of connecting rod 57 and rocking bar 56 are rotationally connected.Detent driving leg and clutch coupling driving leg are fixed on body equally, by changing the position of rocking bar 56 on spline, coordinate brake pedal and clutch pedal position.
Although the present invention with preferred embodiment openly as above; but it is not for limiting claim; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that the claims in the present invention were defined.