CN103631144A - Electromagnetically-driven vehicle driving robot - Google Patents
Electromagnetically-driven vehicle driving robot Download PDFInfo
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- CN103631144A CN103631144A CN201310361723.XA CN201310361723A CN103631144A CN 103631144 A CN103631144 A CN 103631144A CN 201310361723 A CN201310361723 A CN 201310361723A CN 103631144 A CN103631144 A CN 103631144A
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Abstract
The invention discloses an electromagnetically-driven vehicle driving robot which comprises a base, a mechanical leg, a mechanical leg controller, a shifting mechanical arm, a shifting mechanical arm controller, a vehicle speed measurement module, an engine speed measurement module, a motion control module, a data acquisition and signal conditioning module and a real-time driving robot control computer, wherein the mechanical leg controller and the shifting mechanical arm controller are electromagnetic linear actuators. The electromagnetic linear actuators are adopted to directly drive driving robot throttle, brake, clutch mechanical legs and the shifting mechanical arm to execute mechanism action, no intermediate transmission link is required, the size is reduced, the weight is lowered, the positioning and control precision is greatly improved, and the real-time performance is better.
Description
Technical field
The invention belongs to Vehicle Driver Robot technical field, particularly a kind of Electromagnetic Drive Vehicle Driver Robot.
Background technology
Drive robot refers to without vehicle is reequiped, and can can't harm and be arranged in pilothouse, and be adapted to various vehicles, substitutes driver and under unsafe conditions and rugged surroundings, carries out the industrial robot of vehicle drive.Utilize drive robot to carry out the drive a car operation or when being applied to nuclear power station, heavy chemical industry etc. and having the occasion of severe contamination of automobile test, bionical handicapped person, can alleviate human labour intensity, reduce the injury of dangerous rugged surroundings to the mankind, improve the objectivity of test findings and accuracy, handicapped person drive a car ability and security.In addition, intelligent vehicle is that automobile is done as a wholely to consider, using vehicle as mobile robot, reequip or redesign, to the catanator of automobile even power system etc. compare many transformations, or redesign, once any part of this vehicle is damaged, and just cannot proceed operation.And drive robot is not structured on special vehicle, do not need vehicle to transform, but can nondestructively be installed on the automobile of all size, once can changing the outfit, uses on another chassis by vehicle damage ，Gai robot.
Disclosed Vehicle Driver Robot mainly contains several in structure and type of drive both at home and abroad at present: 1) hydraulic-driven.The shortcoming of hydraulic driving mode is oily sealing requirements Gao， mechanism complicated, and this mode is eliminated at present, has no open report both at home and abroad.2) pneumatic actuation.Chinese patent 200410065844.0 " gas electric hybrid type driving robot for automobile test " utilizes cylinder with lock to drive gear shifting manipulator, braking pedipulator and the clutch mechanism leg of drive robot, Dan Qi mechanism is complicated, realize TRAJECTORY CONTROL and multi-nodal accurate positioning (as gearshift) very difficult, in the test of real vehicle automatic Pilot source of the gas obtain more difficult.3) motor+reduction gearing.Chinese patent 200410065844.0 " gas electric hybrid type driving robot for automobile test " utilizes rotating stepper motor and passes through reduction gearing transmitting torque, drive the throttle pedipulator of drive robot, but this structure is higher to the accuracy requirement of installing, complex structure.5) motor+wire drawing.Chinese patent 201110264908.X " pulley wire-type driver robot for vehicle tests " utilizes servomotor and reductor, driving stem, Compress Spring, wire rope, large pulley and small sheave to drive car test drive robot, but this structure is too complicated, positioning precision Di， topworks must be in running order all the time.5) motor+ball-screw.United States Patent (USP) 5372035 " robot for driving a car on chassis dynamometer " utilizes rotation DC servo motor and passes through ball-screw transmitting torque, drive gear shifting manipulator, throttle pedipulator, braking pedipulator and the clutch mechanism leg of drive robot, but its complex structure, volume is larger, transmission efficiency is low, and control accuracy is difficult to control.
Summary of the invention
The object of the present invention is to provide a kind of light and handy, little, lightweight without intermediate transmission link, volume, location simple in structure and control accuracy is high, real-time is good, be applicable to the Electromagnetic Drive Vehicle Driver Robot of Portable vehicle-mounted.
The technical solution that realizes the object of the invention is:
A kind of Electromagnetic Drive Vehicle Driver Robot, comprise support, pedipulator, pedipulator controller, gear shifting manipulator, gear shifting manipulator controller, automobile speed measurement module, measurement of engine rotate speed module, motion-control module, data acquisition and signal condition module and drive robot real-time control computer, pedipulator is connected with pedipulator controller, gear shifting manipulator is connected with gear shifting manipulator controller, pedipulator controller is connected with support with gear shifting manipulator controller, pedipulator controller and gear shifting manipulator controller all with motion-control module, data acquisition is connected with signal condition module, motion-control module is connected with drive robot real-time control computer with signal condition module with data acquisition, pedipulator controller comprises pedipulator electromagnetism linear actuator, pedipulator electromagnetism linear actuator control module and the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, pedipulator electromagnetism linear actuator is connected with pedipulator, pedipulator electromagnetism linear actuator control module is connected with pedipulator electromagnetism linear actuator with the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetism linear actuator, engage a gear mechanical arm electromagnetism linear actuator, gear shifting manipulator electromagnetism linear actuator control module, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor, block selecting mechanical arm electromagnetism linear actuator is all connected with gear shifting manipulator electromagnetism linear actuator control module with support with engage a gear mechanical arm electromagnetism linear actuator, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor are connected with block selecting mechanical arm electromagnetism linear actuator, the put into gear linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor is connected with engage a gear mechanical arm electromagnetism linear actuator, gear shifting manipulator electromagnetism linear actuator control module is connected with motion-control module with pedipulator electromagnetism linear actuator control module, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor, the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, automobile speed measurement module and measurement of engine rotate speed module are connected with signal condition module with data acquisition respectively.
The present invention compared with prior art, its remarkable advantage:
(1) the present invention adopts electromagnetism linear actuator directly to drive topworks's actions such as drive robot throttle, braking, clutch mechanism leg and gear shifting manipulator, without intermediate transmission link, reduced volume, reduced weight, greatly improved location and control accuracy, real-time is better.
(2) the present invention has adopted new pedipulator structure, can more adapt to various vehicles, and adjusts convenient.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention.
Fig. 2 is side-looking structural representation of the present invention.
Fig. 3 is control structure schematic diagram of the present invention.
Embodiment
A kind of Electromagnetic Drive Vehicle Driver Robot of the present invention, comprise support 11, pedipulator, pedipulator controller, gear shifting manipulator 27, gear shifting manipulator controller, automobile speed measurement module 34, measurement of engine rotate speed module 35, motion-control module 32, data acquisition and signal condition module 33 and drive robot real-time control computer 31, pedipulator is connected with pedipulator controller, gear shifting manipulator 27 is connected with gear shifting manipulator controller, pedipulator controller is connected with support 11 with gear shifting manipulator controller, pedipulator controller and gear shifting manipulator controller all with motion-control module 32, data acquisition is connected with signal condition module 33, motion-control module 32 is connected with drive robot real-time control computer 31 with signal condition module 33 with data acquisition, pedipulator controller comprises pedipulator electromagnetism linear actuator, pedipulator electromagnetism linear actuator control module and the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, pedipulator electromagnetism linear actuator is connected with pedipulator, pedipulator electromagnetism linear actuator control module is connected with pedipulator electromagnetism linear actuator with the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetism linear actuator 5, engage a gear mechanical arm electromagnetism linear actuator 6, gear shifting manipulator electromagnetism linear actuator control module 36, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41, block selecting mechanical arm electromagnetism linear actuator 5 is all connected with gear shifting manipulator electromagnetism linear actuator control module 36 with support 11 with engage a gear mechanical arm electromagnetism linear actuator 6, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42 are connected with block selecting mechanical arm electromagnetism linear actuator 5, the put into gear linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41 is connected with engage a gear mechanical arm electromagnetism linear actuator 6, gear shifting manipulator electromagnetism linear actuator control module 36 is connected with motion-control module 32 with pedipulator electromagnetism linear actuator control module, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41, the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, automobile speed measurement module 34 and measurement of engine rotate speed module 35 are connected with signal condition module 33 with data acquisition respectively.
Pedipulator comprises pedipulator sole, pedipulator shank bar, pedipulator thigh bar, between pedipulator sole and pedipulator shank bar and pedipulator thigh bar and pedipulator shank bar, adopt spherical hinge to be connected, wherein, pedipulator thigh bar is connected with pedipulator electromagnetism linear actuator.
Embodiment: as depicted in figs. 1 and 2:
An Electromagnetic Drive Vehicle Driver Robot, comprises support 11, throttle pedipulator 28, braking pedipulator 29, clutch mechanism leg 30, throttle pedipulator controller, braking pedipulator controller, clutch mechanism leg controller, gear shifting manipulator 27, gear shifting manipulator controller, motion-control module 32, data acquisition and signal condition module 33 and drive robot real-time control computer 31, throttle pedipulator 28 is connected with throttle pedipulator controller, clutch mechanism leg 30 is connected with clutch mechanical leg controller, braking pedipulator 29 is connected with braking pedipulator controller, gear shifting manipulator 27 is connected with gear shifting manipulator controller, throttle pedipulator controller, braking pedipulator controller, clutch mechanism leg controller is connected with support 11 with gear shifting manipulator controller, is provided with support lid 1, throttle pedipulator controller on support 11, braking pedipulator controller, clutch mechanism leg controller and gear shifting manipulator controller all with motion-control module 32, data acquisition is connected with signal condition module 33, and motion-control module 32 is connected with drive robot real-time control computer 31 with signal condition module 33 with data acquisition.
Braking pedipulator 29 controllers comprise braking pedipulator electromagnetism linear actuator 19, braking pedipulator electromagnetism linear actuator control module 38 and braking pedipulator electromagnetism linear actuator straight-line displacement and current sensor 44, braking pedipulator electromagnetism linear actuator 19 is connected with braking pedipulator 29, and braking pedipulator electromagnetism linear actuator control module 38 is connected with braking pedipulator electromagnetism linear actuator 19 with braking pedipulator electromagnetism linear actuator straight-line displacement and current sensor 44.
Gear shifting manipulator controller comprises block selecting mechanical arm electromagnetism linear actuator 5, engage a gear mechanical arm electromagnetism linear actuator 6, gear shifting manipulator electromagnetism linear actuator control module 36, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41, block selecting mechanical arm electromagnetism linear actuator 5 is all connected with gear shifting manipulator electromagnetism linear actuator control module 36 with support 11 with engage a gear mechanical arm electromagnetism linear actuator 6, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42 are connected with block selecting mechanical arm electromagnetism linear actuator 5, the put into gear linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41 is connected with engage a gear mechanical arm electromagnetism linear actuator 6.
Gear shifting manipulator electromagnetism linear actuator control module 36, throttle pedipulator electromagnetism linear actuator control module 37, braking pedipulator electromagnetism linear actuator control module 38 is connected with motion-control module 32 with clutch mechanism leg electromagnetism linear actuator control module 39, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor 42, put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor 41, the linear actuator straight-line displacement of throttle pedipulator electromagnetism and current sensor 43, braking pedipulator electromagnetism linear actuator straight-line displacement and current sensor 44 are connected with signal condition module 33 with data acquisition with the linear actuator straight-line displacement of clutch mechanism leg electromagnetism and current sensor 45.
As depicted in figs. 1 and 2, gear shifting manipulator 27 comprises block selecting driving link 7, block selecting push rod 8, compensation fork 9, the driving link 10 of putting into gear, trumpeter's armed lever 12, put into gear connecting rod 13, two trumpeter's armed levers 14, arm level(l)ing mechanism 3, arm vertically modulating mechanism 4 and gear shifting manipulator clamping element 2.Block selecting mechanical arm electromagnetism linear actuator 5, the shell of mechanical arm electromagnetism linear actuator 6 of putting into gear is articulated with on support 11 by rotating shaft, the guide rod of block selecting mechanical arm electromagnetism linear actuator 5 is articulated with block selecting driving link 7, the other end of block selecting driving link 7 is articulated with on support 11 by rotating shaft, one end of compensation fork 9 is articulated with on support 11 by rotating shaft, the other end and trumpeter's armed lever 12 of compensation fork 9 are hinged, the other end of one trumpeter's armed lever 12 and block selecting push rod 8, the connecting rod 13 of putting into gear is hinged, block selecting push rod 8 is hinged with block selecting driving link 7, the put into gear other end and the driving link 10 of putting into gear of connecting rod 13, two trumpeter's armed levers 14 are hinged, the other end of driving link 10 of putting into gear is articulated with on support 11 by rotating shaft, the guide rod of mechanical arm electromagnetism linear actuator 6 of putting into gear is articulated with the driving link 10 of putting into gear, after arm vertically modulating mechanism 4 use nut screwing clampings, clamp automobile gearbox control lever ball rod.Put into gear and block selecting campaign in, by block selecting driving link 7, the driving link 10 of putting into gear, the rectilinear motion of electromagnetism linear actuator is changed into and rotatablely moved, transmit the thrust of electromagnetism linear actuator simultaneously, utilize block selecting angle displacement sensor and the angle displacement sensor of putting into gear to record gear shifting manipulator when front hook coordinate figure.In the time of 5 motion of block selecting mechanical arm electromagnetism linear actuator, driving link 10 holding positions of putting into gear are constant, and block selecting driving link 7 rotatablely moves around the shaft, drive 8 motions of block selecting push rod, realize the block selecting action of gear shift lever of auto vehicles, the position of block selecting by block selecting angle displacement sensor, can be detected in real time; When putting into gear 6 motion of mechanical arm electromagnetism linear actuator, block selecting driving link 7 holding positions are constant, the driving link 10 of putting into gear pivots, the parallel motion that drive is comprised of the connecting rod 13 of putting into gear, trumpeter's armed lever 12, two trumpeter's armed levers 14, thereby realize putting into gear and plucking gear action, the position that obtains putting into gear by the angle displacement sensor of putting into gear of automobile gear-box control lever.The compound motion of block selecting and the both direction of putting into gear, can realize the gearshift action of all gears of various variators.Two trumpeter's armed levers, except 14 transmission power and completing motion, also provide and can for gear shifting manipulator, regulate the regulating tank of arm length, realize the adjusting of mechanical arm length, to be applicable to any vehicle by this governor motion.Because the particular location of the shift of transmission handle of different automobile types is different, not only horizontal level is different, and upright position is also different.By arm vertically modulating mechanism 4 for regulating the upright position of gear shifting manipulator to adapt to for different automobile types, it carries out bolt by arm level(l)ing mechanism 3 and is fixedly connected with, by with coordinating of gear shifting manipulator clamping element 2, shifting vehicle gearbox handle clamp being fastened, thereby realize the manipulation of shift handle.
As depicted in figs. 1 and 2: throttle pedipulator 28 comprises throttle pedipulator sole 18, throttle pedipulator shank bar 17, throttle pedipulator thigh bar 16, between throttle pedipulator sole 18 and throttle pedipulator shank bar 17 and throttle pedipulator thigh bar 16 and throttle pedipulator shank bar 17, adopt spherical hinge to be connected, wherein, throttle pedipulator thigh bar 16 is connected with throttle pedipulator electromagnetism linear actuator 15.
The pedipulator sole of pedipulator front portion is connected with pedal of vehicles, and pedipulator electromagnetism linear actuator driving device leg thigh bar and pedipulator shank bar are controlled auto pedal.The one-piece construction of pedipulator thigh bar is divided upper and lower two parts: the inside groove of upper part and four through holes are for being fixedly linked with electromagnetism linear actuator, the elongate slots of lower part is for being fixedly connected with pedipulator shank bar, and the convenient pedipulator length that regulates is to be applicable to any vehicle.Pedipulator shank bar is also divided into upper and lower two parts: the two through hole of upper part is for being fixedly connected with pedipulator thigh bar, can be by regulating the position of pedipulator shank bar on pedipulator thigh bar to realize the adjusting of the length of whole pedipulator, easily and effectively, practical operation only need be by tightening two nuts; The latter half for being fixedly connected with of pedipulator sole, power is ultimately delivered on the most end part machinery legs and feet plate of pedipulator.Pedipulator sole is the direct fixing part that contacts with accelerator pedal of automobile of pedipulator, pedipulator sole top is for being fixedly connected with pedipulator shank bar, bottom big groove is used for being fit into accelerator pedal of automobile, groove design can be installed the pedal model of any automobile, and quantitatively control pedal moves up and down and easy for installation saving time.Owing to selecting electromagnetism linear actuator, and robot steps on the gas, the mode of motion of braking, clutch pedal is rectilinear motion, so can directly pedipulator electromagnetism linear actuator be carried out after part repacking directly fixingly with pedipulator thigh bar, facilitate the transmission of power, simplified structure designs and quality.To being adapted as of pedipulator electromagnetism linear actuator: process two circular holes on the appropriate location of pedipulator electromagnetism linear actuator front end craspedodrome bar, with bolt, pedipulator electromagnetism linear actuator is fixedly connected with pedipulator thigh bar, then straight-bar is installed in pedipulator electromagnetism linear actuator rear end, and process circular hole, for the linking of support 11.
Be core as shown in Figure 3: Electromagnetic Drive drive robot detects control system take drive robot real-time control computer 31(digital signal processor TMS320F2812DSP chip), DSP receives the information such as the current location of each topworks, the displacement of electromagnetism linear actuator and electric current, the speed of a motor vehicle and engine speed, according to resulting input data with pre-enter to the target operating condition data comparison in storer, calculate and output executing mechanism command signal in real time.The driving electromagnetism linear actuator of each topworks adopts the control mode of PWM, and the control algolithm of electromagnetism linear actuator adopts the double-loop control strategy of displacement and electric current.Electromagnetism linear actuator control module receives the signal rear drive electromagnetism linear actuator of motion-control module 32, realizes the control to electromagnetism linear actuator.Electromagnetic Drive drive robot real-time control computer 31 is controlled throttle pedipulator 28, braking pedipulator 29, clutch mechanism leg 30(for the vehicle that is equipped with automatic transmission according to the instructions coordinate of setting, clutch mechanism leg can save) and gear shifting manipulator 27, complete the speed tracking of the different driving cycles of automatic driving vehicle.Measurement of engine rotate speed module 35 is transformed into analog voltage by the engine speed of vehicle, by data acquisition and signal condition module 33 input real-time control computers 31, automobile speed measurement module 34 obtains the speed of a motor vehicle and inputs drive robot real-time control computer 31 from being arranged on the photoelectric sensor of vehicle tyre.Electromagnetic Drive drive robot is driven gear shifting manipulator 27 and throttle pedipulator 28, is braked pedipulator 29, clutch mechanism leg 30 philosophy maneuver vehicle transmission shift levers, gas pedal, brake pedal, clutch pedal by electromagnetism linear actuator.
After Electromagnetic Drive drive robot is installed and is fixed on vehicle, first drive robot real-time control computer 31 utilizes the linear displacement transducer being arranged on throttle, braking, clutch mechanism leg to obtain the stroke of different vehicle throttle, braking and clutch pedal, for robot motion controls, set up benchmark, thereby adapt to the vehicle of different structure size.Then by motion-control module 32, control respectively throttle pedipulator 28, braking pedipulator 29, clutch mechanism leg 30(for the vehicle that is equipped with automatic transmission, clutch mechanism leg can save) press down and reclaim, and shift gears according to the requirement of driving cycles.Drive robot real-time control computer 31 coordinates to control throttle, braking, clutch coupling and gearshift according to the current vehicle speed of vehicle and driving cycle, in acceleration, deceleration and speed stabilizing stage of speed tracking, according to the recovery of the deviation control throttle of target vehicle speed and current vehicle speed and detent with press down, realize the accurate control of the speed of a motor vehicle.
Claims (3)
1. an Electromagnetic Drive Vehicle Driver Robot, it is characterized in that: comprise support (11), pedipulator, pedipulator controller, gear shifting manipulator (27), gear shifting manipulator controller, automobile speed measurement module (34), measurement of engine rotate speed module (35), motion-control module (32), data acquisition and signal condition module (33) and drive robot real-time control computer (31), pedipulator is connected with pedipulator controller, gear shifting manipulator (27) is connected with gear shifting manipulator controller, pedipulator controller is connected with support (11) with gear shifting manipulator controller, pedipulator controller and gear shifting manipulator controller all with motion-control module (32), data acquisition is connected with signal condition module (33), motion-control module (32) is connected with drive robot real-time control computer (31) with signal condition module (33) with data acquisition, pedipulator controller comprises pedipulator electromagnetism linear actuator, pedipulator electromagnetism linear actuator control module and the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, pedipulator electromagnetism linear actuator is connected with pedipulator, pedipulator electromagnetism linear actuator control module is connected with pedipulator electromagnetism linear actuator with the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetism linear actuator (5), engage a gear mechanical arm electromagnetism linear actuator (6), gear shifting manipulator electromagnetism linear actuator control module (36), the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor (42), put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor (41), block selecting mechanical arm electromagnetism linear actuator (5) is all connected with gear shifting manipulator electromagnetism linear actuator control module (36) with support (11) with engage a gear mechanical arm electromagnetism linear actuator (6), the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor (42) are connected with block selecting mechanical arm electromagnetism linear actuator (5), the put into gear linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor (41) is connected with engage a gear mechanical arm electromagnetism linear actuator (6), gear shifting manipulator electromagnetism linear actuator control module (36) is connected with motion-control module (32) with pedipulator electromagnetism linear actuator control module, the linear actuator straight-line displacement of block selecting mechanical arm electromagnetism and current sensor (42), put into gear the linear actuator straight-line displacement of mechanical arm electromagnetism and current sensor (41), the linear actuator straight-line displacement of pedipulator electromagnetism and current sensor, automobile speed measurement module (34) and measurement of engine rotate speed module (35) are connected with signal condition module (33) with data acquisition respectively.
2. Electromagnetic Drive Vehicle Driver Robot according to claim 1, is characterized in that: described gear shifting manipulator (27) comprises block selecting driving link (7), block selecting push rod (8), compensation fork (9), the driving link of putting into gear (10), trumpeter's armed lever (12), the connecting rod of putting into gear (13), two trumpeter's armed levers (14), arm level(l)ing mechanism (3), arm vertically modulating mechanism (4) and gear shifting manipulator clamping element (2), block selecting mechanical arm electromagnetism linear actuator (5) is connected with gear shifting manipulator (27) with the mechanical arm electromagnetism linear actuator (6) of putting into gear, angle displacement sensor (40) is connected to block selecting driving link (7) and the driving link of putting into gear (10) is upper, block selecting mechanical arm electromagnetism linear actuator (5) and support (11), put into gear mechanical arm electromagnetism linear actuator (6) and support (11), block selecting mechanical arm electromagnetism linear actuator (5) and block selecting driving link (7), block selecting driving link (7) and support (11), compensation fork (9) and support (11), compensation fork (9) and trumpeter's armed lever (12), one trumpeter's armed lever (12) and put into gear connecting rod (13) and block selecting push rod (8), block selecting push rod (8) and block selecting driving link (7), put into gear connecting rod (13) and two trumpeter's armed levers (14), put into gear driving link (10) and two trumpeter's armed levers (14), put into gear driving link (10) and support (11), arm level(l)ing mechanism (3) and two trumpeter's armed levers (14), arm vertically modulating mechanism (4) all adopts spherical hinge connected mode to be connected with gear shifting manipulator clamping element (2), and arm level(l)ing mechanism (3) and arm vertically modulating mechanism (4) adopt and be flexibly connected.
3. Electromagnetic Drive Vehicle Driver Robot according to claim 1, it is characterized in that: described pedipulator comprises pedipulator sole, pedipulator shank bar, pedipulator thigh bar, between pedipulator sole and pedipulator shank bar and pedipulator thigh bar and pedipulator shank bar, adopt spherical hinge to be connected, wherein, pedipulator thigh bar is connected with pedipulator electromagnetism linear actuator.
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| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree 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 |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN106696716A (en) * | 2017-01-16 | 2017-05-24 | 重庆三峡学院 | Brake-by-wire braking unit for electric cars |
| CN106932205A (en) * | 2017-01-20 | 2017-07-07 | 南京理工大学 | It is a kind of that pedipulator is driven based on the Vehicle Driver Robot that linear electric motors drive |
| CN106863304A (en) * | 2017-03-28 | 2017-06-20 | 南京理工大学 | A kind of scalableization Vehicle Driver Robot |
| CN106863304B (en) * | 2017-03-28 | 2019-08-30 | 南京理工大学 | A kind of scalableization Vehicle Driver Robot |
| CN109228856A (en) * | 2018-08-22 | 2019-01-18 | 南京理工大学 | A kind of automatic robot driver gear shifting manipulator |
| CN109228856B (en) * | 2018-08-22 | 2021-06-08 | 南京理工大学 | Automatic mechanical hand of shifting of driving robot |
| CN109521674A (en) * | 2018-11-26 | 2019-03-26 | 东南大学 | A kind of electric vehicle drive robot controller parameter self-learning method |
| CN110091313A (en) * | 2019-04-25 | 2019-08-06 | 南京理工大学 | A kind of gear shifting manipulator based on parallel manipulator |
| CN110091313B (en) * | 2019-04-25 | 2022-02-18 | 南京理工大学 | Gear shifting manipulator based on parallel execution mechanism |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
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