CN102735451A - Steering robot for automobile test - Google Patents
Steering robot for automobile test Download PDFInfo
- Publication number
- CN102735451A CN102735451A CN2011100915350A CN201110091535A CN102735451A CN 102735451 A CN102735451 A CN 102735451A CN 2011100915350 A CN2011100915350 A CN 2011100915350A CN 201110091535 A CN201110091535 A CN 201110091535A CN 102735451 A CN102735451 A CN 102735451A
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- pair
- robot
- brackets
- axle assembly
- cross axle
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Abstract
The invention provides a steering robot for an automobile test. The robot includes a mounting frame. The mounting frame is provided with a driving mechanism which is connected with a transmission mechanism. The transmission mechanism is connected with a steering wheel fixer. The transmission mechanism is formed by an alternating current servo motor and a cascade deceleration motor. The deceleration motor comprises an output shaft. The transmission mechanism includes a first cross axle assembly and a second cross axle assembly. One end of the first cross axle assembly is connected with the output shaft, and the other end of the first cross axle assembly is connected with the second cross axle assembly through a toothed splined shaft. The second cross axle assembly is connected with a connecting shaft fixed seat. The steering wheel fixer comprises three support arms. Each support arm is provided with a C shaped clamping seat. An arm of the C shaped clamping seat is provided with a pressing block. The support arms are connected with a screw rod with an adjustable length. The screw rod is fixedly connected with the connecting shaft fixed seat. The present invention has the advantages of high positioning accuracy, good repeatability, and reliable comparative data, and test personnel can be substituted completely to carry out the automatic operation of an automobile steering wheel.
Description
Technical field
The invention belongs to automobile test servomechanism field, relate to a kind of robot device that turns to that can replace the driver to carry out automobile test, in particular to a kind of automobile test with turning to robot.
Background technology
In vehicle complete vehicle test field, often need carry out strictness control, like operational stability test, ABS match test etc. to the steering angle and the turning velocity of automobile.These are tested, and often car speed is high, and steering angle is big, and the danger of test is very big, and the person to human driver damages easily; Relatively stricter to the constraint of steering angle and turning velocity simultaneously; Human driver's individual human factor can cause very big influence to test findings, therefore in these tests, is necessary to adopt to turn to robot to replace human driver that vehicle steering is operated automatically.
1), simple in structure turn to robot device's requirement to be to this type of:, can be installed in the indoor small space of automobile; 2), need not car load and steering wheel arrangement are transformed, can directly install; The bearing circle that 3), can adapt to the different size size; 5), steering wheel angle and speed control be simple, bearing accuracy is high.
Existing a kind of variable ratio steering gear; Its patent No. is 02264154.8 Chinese utility model patent, has proposed a kind of steering gear of new construction, and this device has two cross assembles; One end of a cross assemble is a yoke; The other end is an axle sleeve, and an end of another cross assemble is a terminal pad, and axle sleeve is socketed on the slip shaft yoke.Utilize the drive characteristic of cardan (hookes)universal joint; Guarantee that vehicle has big angular gear ratio when high-speed straight-line goes, when turning to entirely, have less average angle ratio of gear, satisfy the promptly not too sensitive again flexibly requirement of vehicle steering system like this; And always be entirely when turning to entirely less than a circle; Alleviate driver's labour intensity, can also two or more cardan (hookes)universal joints be together in series, solved space and the restricted problem of structure.The shortcoming of this structure is to reequip vehicle, and adaptability is relatively poor, can't satisfy the requirement of test Fast Installation.
Summary of the invention
For overcoming deficiency of the prior art; The purpose of this invention is to provide a kind of automobile test with turning to robot; It can not carry out on the basis of any repacking vehicle; Be installed in the pilothouse of instruction carriage, adapt to the bearing circle of different-diameter, and can control angle and the speed that turns to according to testing requirements.
For solving the problems of the technologies described above, realize above-mentioned purpose, the present invention realizes through following technical scheme:
A kind of automobile test is with turning to robot; Comprise that one is used for automobile test with turning to robot to be fixed on the mounting bracket on the operating seat; Said mounting bracket is provided with driving mechanism, and said driving mechanism is connected with gear train, and said gear train is connected with the bearing circle fixator; Said driving mechanism is made up of AC servo motor cascade reducing motor; Said reducing motor comprises an output shaft, and said gear train comprises first cross assemble and second cross assemble, and an end of said first cross assemble connects said output shaft; The other end connects said second cross assemble through a profile of tooth splined shaft, and said second cross assemble connects a coupling shaft holder; Said bearing circle fixator comprises three sway braces; Described each sway brace is provided with the tight seat of a C clamp; One arm of the tight seat of said C clamp is provided with compact heap, and said sway brace connects a length-adjustable screw rod, and said screw rod is connected on the said coupling shaft holder.
Further, said mounting bracket comprises a pair of spacing pole, pair of brackets side plate, a motor support plate, a movable supporting board, a pair of screw head rotating shaft, pair of brackets fixed head and a base plate; Described pair of brackets fixed head is installed in the both sides of said base plate respectively; Described pair of brackets side plate is separately fixed on the described pair of brackets fixed head; Symmetry offers a pair of arc rotary axis groove and pole groove on the described pair of brackets side plate; One of described a pair of screw head rotating shaft is mobilizable to be arranged in the described a pair of arc rotary axis groove, another is fixed between the described pair of brackets side plate; Said movable supporting board is arranged in the described a pair of screw head rotating shaft, and said motor support plate is arranged on the said movable supporting board, and described a pair of spacing pole is separately positioned in the described a pair of pole groove; The fuselage of said reducing motor is arranged between the described a pair of spacing pole, and an end of said output revolving shaft is arranged in the said motor support plate.
The present invention has following beneficial effect:
1. automobile test of the present invention is with turning to robot to be fixed on the operating seat through bracket fixing plate and base plate, and movable supporting board can rotate at the arc rotary axis groove through the screw head rotating shaft, regulates the output shaft of reductor and the angle of vehicle steering.
2. the output shaft of reductor directly drives first cross assemble, drives second cross assemble through the profile of tooth splined shaft, utilizes the drive characteristic of cardan (hookes)universal joint, can reduce the right alignment requirement of the output shaft and the vehicle steering turning axle of reductor.
3. the bearing circle fixator is made up of three sway braces, and each sway brace is made up of tight seat of C clamp and compact heap, the adjustable screw rod of installation length between tight seat of C clamp and the coupling shaft holder, the length of adjusting screw(rod), the bearing circle of adaptation different-diameter size.Adjusting screw(rod) tightens up the nut of compact heap to suitable length, the clamping direction dish.
4. on type of drive, adopt the mode of AC servo machinery driving, change the frequency and the number of the given pulse of motor servo driver, realize position and control of position in the wheel steering control.
Above-mentioned explanation only is the general introduction of technical scheme of the present invention, understands technological means of the present invention in order can more to know, and can implement according to the content of instructions, below with preferred embodiment of the present invention and conjunction with figs. specify as after.Embodiment of the present invention is provided by following examples and accompanying drawing thereof in detail.
Description of drawings
Fig. 1 uses the rear view that turns to robot for automobile test of the present invention.
Fig. 2 is the cut-open view of A-A among Fig. 1.
Label declaration among the figure: 1, servomotor, 2, reducing motor, 3, spacing pole, 4, rack side plate, 5, the motor support plate; 6, movable supporting board, 7, the screw head rotating shaft, 8, output shaft, 9, first cross assemble, 10, second cross assemble; 11, profile of tooth splined shaft, 12, the coupling shaft holder, 13, screw rod, 14, the tight seat of C clamp, 15, compact heap; 16, bracket fixing plate, 17, base plate, 18, the arc rotary axis groove, 19, the pole groove, 20, sway brace.
Embodiment
Below in conjunction with accompanying drawing and embodiment technology implementation process of the present invention is further specified.
Referring to Fig. 1, shown in Figure 2; A kind of automobile test comprises that with turning to robot one is used for turning to robot to be fixed on the mounting bracket on the operating seat automobile test usefulness, and said mounting bracket is provided with driving mechanism; Said driving mechanism is connected with gear train; Said gear train is connected with the bearing circle fixator, and said driving mechanism is made up of AC servo motor 1 cascade reducing motor 2, and said reducing motor 2 comprises an output shaft 8; Said gear train comprises first cross assemble 9 and second cross assemble 10; One end of said first cross assemble 9 connects said output shaft 8, and the other end connects said second cross assemble 10 through a profile of tooth splined shaft 11, and said second cross assemble 10 connects a coupling shaft holder 12; Said bearing circle fixator comprises three sway braces 20; Described each sway brace 20 is provided with the tight seat 14 of a C clamp; One arm of the tight seat 14 of said C clamp is provided with compact heap 15; Said sway brace 20 connects a length-adjustable screw rod 13, and said screw rod 13 is connected on the said coupling shaft holder 12.
Further, said mounting bracket comprises a pair of spacing pole 3, pair of brackets side plate 4, a motor support plate 5, a movable supporting board 6, a pair of screw head rotating shaft 7, pair of brackets fixed head 16 and a base plate 17; Described pair of brackets fixed head 16 is installed in the both sides of said base plate 17 respectively; Described pair of brackets side plate 4 is separately fixed on the described pair of brackets fixed head 16; Symmetry offers a pair of arc rotary axis groove 18 and pole groove 19 on the described pair of brackets side plate 4; 7 one of described a pair of screw head rotating shafts are mobilizable to be arranged in the described a pair of arc rotary axis groove 18, another is fixed between the described pair of brackets side plate 4; Said movable supporting board 6 is arranged in the described a pair of screw head rotating shaft 7, and said motor support plate 5 is arranged on the said movable supporting board 6, and described a pair of spacing pole 3 is separately positioned in the described a pair of pole groove 19; The fuselage of said reducing motor 2 is arranged between the described a pair of spacing pole 3, and an end of said output revolving shaft 8 is arranged in the said motor support plate 5.
Advantages such as automobile test of the present invention has bearing accuracy height, good reproducibility with turning to robot steering angle and speed accurately controlled, and correlation data is reliable can replace human testing crew to carry out the automatic operation of vehicle steering fully
The foregoing description just is to let the one of ordinary skilled in the art can understand content of the present invention and enforcement according to this in order technical conceive of the present invention and characteristics to be described, to be its objective is, can not limit protection scope of the present invention with this.The variation or the modification of every equivalence that the essence of content is made according to the present invention all should be encompassed in protection scope of the present invention.
Claims (2)
1. an automobile test is with turning to robot; Comprise that one is used for automobile test with turning to robot to be fixed on the mounting bracket on the operating seat; Said mounting bracket is provided with driving mechanism, and said driving mechanism is connected with gear train, and said gear train is connected with the bearing circle fixator; Said driving mechanism is made up of AC servo motor (1) cascade reducing motor (2); Said reducing motor (2) comprises an output shaft (8), it is characterized in that: said gear train comprises first cross assemble (9) and second cross assemble (10), and an end of said first cross assemble (9) connects said output shaft (8); The other end connects said second cross assemble (10) through a profile of tooth splined shaft (11), and said second cross assemble (10) connects a coupling shaft holder (12); Said bearing circle fixator comprises three sway braces (20); Described each sway brace (20) is provided with the tight seat of a C clamp (14); One arm of the tight seat of said C clamp (14) is provided with compact heap (15); Said sway brace (20) connects a length-adjustable screw rod (13), and said screw rod (13) is connected on the said coupling shaft holder (12).
2. automobile test according to claim 1 is characterized in that with turning to robot: said mounting bracket comprises a pair of spacing pole (3), pair of brackets side plate (4), a motor support plate (5), a movable supporting board (6), a pair of screw head rotating shaft (7), pair of brackets fixed head (16) and a base plate (17); Described pair of brackets fixed head (16) is installed in the both sides of said base plate (17) respectively; Described pair of brackets side plate (4) is separately fixed on the described pair of brackets fixed head (16); Described pair of brackets side plate (4) is gone up symmetry and is offered a pair of arc rotary axis groove (18) and pole groove (19); (7) one of described a pair of screw head rotating shafts are mobilizable to be arranged in the described a pair of arc rotary axis groove (18), another is fixed between the described pair of brackets side plate (4); Said movable supporting board (6) is arranged in the described a pair of screw head rotating shaft (7); Said motor support plate (5) is arranged on the said movable supporting board (6); Described a pair of spacing pole (3) is separately positioned in the described a pair of pole groove (19), and the fuselage of said reducing motor (2) is arranged between the described a pair of spacing pole (3), and an end of said output revolving shaft (8) is arranged in the said motor support plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110091535.0A CN102735451B (en) | 2011-04-13 | 2011-04-13 | Steering robot for automobile test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110091535.0A CN102735451B (en) | 2011-04-13 | 2011-04-13 | Steering robot for automobile test |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102735451A true CN102735451A (en) | 2012-10-17 |
| CN102735451B CN102735451B (en) | 2014-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110091535.0A Expired - Fee Related CN102735451B (en) | 2011-04-13 | 2011-04-13 | Steering robot for automobile test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102735451B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN106840705A (en) * | 2017-03-20 | 2017-06-13 | 南京理工大学 | A kind of Vehicle Driver Robot steering mechanical hand |
| CN109141928A (en) * | 2018-10-16 | 2019-01-04 | 吉林大学 | A kind of steering wheel operating device for motor road test |
| CN109141928B (en) * | 2018-10-16 | 2024-04-19 | 吉林大学 | Steering wheel operating device for automobile road test |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07248279A (en) * | 1994-03-11 | 1995-09-26 | Suzuki Motor Corp | Automatic reciprocal operation device of steering |
| JP2000214050A (en) * | 1999-01-20 | 2000-08-04 | Nissan Motor Co Ltd | Steering system |
| KR20010066656A (en) * | 1999-12-31 | 2001-07-11 | 이계안 | Mounting jig Characteristic Testing machine of steering |
| JP2005283198A (en) * | 2004-03-29 | 2005-10-13 | Toyota Motor Corp | Revolution testing arrangement for steering wheel |
| CN201488876U (en) * | 2009-06-01 | 2010-05-26 | 奇瑞汽车股份有限公司 | Engine bracket |
| CN202057501U (en) * | 2011-04-13 | 2011-11-30 | 苏州博泰测控技术有限公司 | Steering robot for automobile test |
-
2011
- 2011-04-13 CN CN201110091535.0A patent/CN102735451B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07248279A (en) * | 1994-03-11 | 1995-09-26 | Suzuki Motor Corp | Automatic reciprocal operation device of steering |
| JP2000214050A (en) * | 1999-01-20 | 2000-08-04 | Nissan Motor Co Ltd | Steering system |
| KR20010066656A (en) * | 1999-12-31 | 2001-07-11 | 이계안 | Mounting jig Characteristic Testing machine of steering |
| JP2005283198A (en) * | 2004-03-29 | 2005-10-13 | Toyota Motor Corp | Revolution testing arrangement for steering wheel |
| CN201488876U (en) * | 2009-06-01 | 2010-05-26 | 奇瑞汽车股份有限公司 | Engine bracket |
| CN202057501U (en) * | 2011-04-13 | 2011-11-30 | 苏州博泰测控技术有限公司 | Steering robot for automobile test |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN106840705A (en) * | 2017-03-20 | 2017-06-13 | 南京理工大学 | A kind of Vehicle Driver Robot steering mechanical hand |
| CN109141928A (en) * | 2018-10-16 | 2019-01-04 | 吉林大学 | A kind of steering wheel operating device for motor road test |
| CN109141928B (en) * | 2018-10-16 | 2024-04-19 | 吉林大学 | Steering wheel operating device for automobile road test |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102735451B (en) | 2014-12-03 |
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| C06 | Publication | ||
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: NANJING SANCHUANG AUTOMATION SCIENCE + TECHNOLOGY Free format text: FORMER OWNER: SUZHOU BRONTEK MEASURE + CONTROL TECHNOLOGY CO., LTD. Effective date: 20150129 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 215000 SUZHOU, JIANGSU PROVINCE TO: 210000 NANJING, JIANGSU PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20150129 Address after: 210000, room 16, 209 Yang Yang Road, Dragon Street, Liuhe District, Nanjing, Jiangsu Patentee after: NANJING SANCHUANG AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Address before: 215000 A310 building, second teaching building, No. 150, benevolence Road, Suzhou Industrial Park, Suzhou, Jiangsu Patentee before: Suzhou Brontek Measure & Control Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20180413 |
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| CF01 | Termination of patent right due to non-payment of annual fee |