CN103631144B - Electromagnetic Drive Vehicle Driver Robot - Google Patents
Electromagnetic Drive Vehicle Driver Robot Download PDFInfo
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- CN103631144B CN103631144B CN201310361723.XA CN201310361723A CN103631144B CN 103631144 B CN103631144 B CN 103631144B CN 201310361723 A CN201310361723 A CN 201310361723A CN 103631144 B CN103631144 B CN 103631144B
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Abstract
The invention discloses 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-regulated kinase and drive robot real-time control computer, wherein pedipulator controller and gear shifting manipulator controller adopt electromagnetic linear actuator; The present invention adopts topworks's actions such as electromagnetic linear actuator Direct driver drive robot throttle, braking, clutch mechanism leg and gear shifting manipulator, without the need to intermediate transmission link, reduce volume, reduce weight, substantially increase location and control accuracy, real-time 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 the need to reequiping vehicle, can can't harm and be arranged in pilothouse, and is adapted to various vehicle, substitutes the industrial robot that driver carries out vehicle drive under unsafe conditions and rugged surroundings.The operation that utilizes that drive robot carries out automobile test, bionical handicapped person drives a car or be applied to nuclear power station, heavy chemical industry etc. when there is the occasion of severe contamination, human labour intensity can be alleviated, reduce the injury of dangerous rugged surroundings to the mankind, improve the objectivity of test findings and accuracy, handicapped person and to drive a car ability and security.In addition, intelligent vehicle is integrally considered by automobile, vehicle is carried out reequiping or redesigning as mobile robot, to the catanator of automobile even power system etc. compare many transformations, or redesign, once any part of this vehicle is damaged, just operation cannot be proceeded.And drive robot is not structured on special vehicle, does not need to transform vehicle, but can nondestructively be installed on the automobile of all size, once vehicle damage, this robot can change the outfit and to use on another chassis.
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 the sealing requirements of oil high, and mechanism is 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 the gear shifting manipulator of drive robot, brake pedipulator and clutch mechanism leg, but its mechanism is complicated, realize TRAJECTORY CONTROL and multi-nodal accurate positioning (as gearshift) very difficult, in the test of real vehicle automatic Pilot, the acquisition of source of the gas is more difficult.3) motor+reduction gearing.Chinese patent 200410065844.0 " gas electric hybrid type driving robot for automobile test " utilizes rotating stepper motor and by 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 is low, and 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 rotary DC servomotor and by ball-screw transmitting torque, drive the gear shifting manipulator of drive robot, throttle pedipulator, braking pedipulator and clutch mechanism leg, 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 that a kind of structure is simple light and handy, little, lightweight without the need to intermediate transmission link, volume, location 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 realizing 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-regulated kinase 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-regulated kinase, motion-control module is connected with drive robot real-time control computer with Signal-regulated kinase with data acquisition, pedipulator controller comprises pedipulator electromagnetic linear actuator, pedipulator electromagnetic linear actuator control unit and the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, pedipulator electromagnetic linear actuator is connected with pedipulator, pedipulator electromagnetic linear actuator control unit is connected with pedipulator electromagnetic linear actuator with the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetic linear actuator, engage a gear mechanical arm electromagnetic linear actuator, gear shifting manipulator electromagnetic linear actuator control unit, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor, block selecting mechanical arm electromagnetic linear actuator is all connected with support and gear shifting manipulator electromagnetic linear actuator control unit with engage a gear mechanical arm electromagnetic linear actuator, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor are connected with block selecting mechanical arm electromagnetic linear actuator, the put into gear actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor is connected with engage a gear mechanical arm electromagnetic linear actuator, gear shifting manipulator electromagnetic linear actuator control unit is connected with motion-control module with pedipulator electromagnetic linear actuator control unit, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor, the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, automobile speed measurement module and measurement of engine rotate speed module are connected with Signal-regulated kinase with data acquisition respectively.
The present invention compared with prior art, its remarkable advantage:
(1) the present invention adopts topworks's actions such as electromagnetic linear actuator Direct driver drive robot throttle, braking, clutch mechanism leg and gear shifting manipulator, without the need to intermediate transmission link, reduce volume, reduce weight, substantially increase location and control accuracy, real-time is better.
(2) present invention employs new pedipulator structure, can more adapt to various vehicle, and adjustment is got up 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-regulated kinase 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-regulated kinase 33, motion-control module 32 is connected with drive robot real-time control computer 31 with Signal-regulated kinase 33 with data acquisition, pedipulator controller comprises pedipulator electromagnetic linear actuator, pedipulator electromagnetic linear actuator control unit and the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, pedipulator electromagnetic linear actuator is connected with pedipulator, pedipulator electromagnetic linear actuator control unit is connected with pedipulator electromagnetic linear actuator with the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetic linear actuator 5, engage a gear mechanical arm electromagnetic linear actuator 6, gear shifting manipulator electromagnetic linear actuator control unit 36, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41, block selecting mechanical arm electromagnetic linear actuator 5 is all connected with support 11 and gear shifting manipulator electromagnetic linear actuator control unit 36 with engage a gear mechanical arm electromagnetic linear actuator 6, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42 are connected with block selecting mechanical arm electromagnetic linear actuator 5, the put into gear actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41 is connected with engage a gear mechanical arm electromagnetic linear actuator 6, gear shifting manipulator electromagnetic linear actuator control unit 36 is connected with motion-control module 32 with pedipulator electromagnetic linear actuator control unit, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41, the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, automobile speed measurement module 34 and measurement of engine rotate speed module 35 are connected with Signal-regulated kinase 33 with data acquisition respectively.
Gear shifting manipulator 27 comprises block selecting driving link 7, block selecting push rod 8, compensates fork 9, driving link 10, trumpeter's armed lever 12 of putting into gear, put into gear connecting rod 13, two trumpeter's armed lever 14, arm level(l)ing mechanism 3, arm vertically modulating mechanism 4 and gear shifting manipulator clamping element 2, block selecting mechanical arm electromagnetic linear actuator 5 is connected with gear shifting manipulator 27 with mechanical arm electromagnetic linear actuator 6 of putting into gear, angle displacement sensor 40 is connected to block selecting driving link 7 and puts into gear on driving link 10, block selecting mechanical arm electromagnetic linear actuator 5 and support 11, to put into gear mechanical arm electromagnetic linear actuator 6 and support 11, block selecting mechanical arm electromagnetic linear actuator 5 and block selecting driving link 7, block selecting driving link 7 and support 11, compensate fork 9 and support 11, compensate 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, to put into gear connecting rod 13 and two trumpeter's armed levers 14, to put into gear driving link 10 and two trumpeter's armed levers 14, to 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 and gear shifting manipulator clamping element 2 all adopt spherical hinge connected mode to be connected, arm level(l)ing mechanism 3 and arm vertically modulating mechanism 4 adopt and are flexibly connected.
Pedipulator comprises pedipulator sole, pedipulator shank bar, pedipulator thigh bar, pedipulator sole and pedipulator shank bar and adopt spherical hinge to be connected between pedipulator thigh bar with pedipulator shank bar, wherein, pedipulator thigh bar is connected with pedipulator electromagnetic linear actuator.
Embodiment: as depicted in figs. 1 and 2:
A kind of 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-regulated kinase 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, support 11 is provided with support lid 1, throttle pedipulator controller, braking pedipulator controller, clutch mechanism leg controller and gear shifting manipulator controller all with motion-control module 32, data acquisition is connected with Signal-regulated kinase 33, and motion-control module 32 is connected with drive robot real-time control computer 31 with Signal-regulated kinase 33 with data acquisition.
Throttle pedipulator 28 controller comprises throttle pedipulator electromagnetic linear actuator 15, throttle pedipulator electromagnetic linear actuator control unit 37 and the actuator straight-line displacement of throttle pedipulator electromagnetic linear and current sensor 43, throttle pedipulator electromagnetic linear actuator 15 is connected with throttle pedipulator 28, and throttle pedipulator electromagnetic linear actuator control unit 37 is connected with throttle pedipulator electromagnetic linear actuator 15 with the actuator straight-line displacement of throttle pedipulator electromagnetic linear and current sensor 43.
Braking pedipulator 29 controller comprises braking pedipulator electromagnetic linear actuator 19, braking pedipulator electromagnetic linear actuator control unit 38 and braking pedipulator electromagnetic linear actuator straight-line displacement and current sensor 44, braking pedipulator electromagnetic linear actuator 19 is connected with braking pedipulator 29, and braking pedipulator electromagnetic linear actuator control unit 38 is connected with braking pedipulator electromagnetic linear actuator 19 with braking pedipulator electromagnetic linear actuator straight-line displacement and current sensor 44.
Clutch mechanism leg 30 controller comprises clutch mechanism leg electromagnetic linear actuator 23, clutch mechanism leg electromagnetic linear actuator control unit 39 and the actuator straight-line displacement of clutch mechanism leg electromagnetic linear and current sensor 45, clutch mechanism leg electromagnetic linear actuator 23 is connected with clutch mechanism leg 30, and clutch mechanism leg electromagnetic linear actuator control unit 39 is connected with clutch mechanism leg electromagnetic linear actuator 23 with the actuator straight-line displacement of clutch mechanism leg electromagnetic linear and current sensor 45.Wherein clutch mechanism leg 30 can be installed or removal, thus adaptation self shifter vehicle and manual shift vehicle are to the different control overflow of clutch coupling, improves the vehicle adaptive faculty of drive robot.
Gear shifting manipulator controller comprises block selecting mechanical arm electromagnetic linear actuator 5, engage a gear mechanical arm electromagnetic linear actuator 6, gear shifting manipulator electromagnetic linear actuator control unit 36, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41, block selecting mechanical arm electromagnetic linear actuator 5 is all connected with support 11 and gear shifting manipulator electromagnetic linear actuator control unit 36 with engage a gear mechanical arm electromagnetic linear actuator 6, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42 are connected with block selecting mechanical arm electromagnetic linear actuator 5, the put into gear actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41 is connected with engage a gear mechanical arm electromagnetic linear actuator 6.
Gear shifting manipulator electromagnetic linear actuator control unit 36, throttle pedipulator electromagnetic linear actuator control unit 37, braking pedipulator electromagnetic linear actuator control unit 38 is connected with motion-control module 32 with clutch mechanism leg electromagnetic linear actuator control unit 39, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor 42, to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor 41, the actuator straight-line displacement of throttle pedipulator electromagnetic linear and current sensor 43, braking pedipulator electromagnetic linear actuator straight-line displacement and current sensor 44 are connected with Signal-regulated kinase 33 with data acquisition with the actuator straight-line displacement of clutch mechanism leg electromagnetic linear 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, compensates fork 9, driving link 10, trumpeter's armed lever 12 of putting into gear, put into gear connecting rod 13, two trumpeter's armed lever 14, arm level(l)ing mechanism 3, arm vertically modulating mechanism 4 and gear shifting manipulator clamping element 2.Block selecting mechanical arm electromagnetic linear actuator 5, the shell of mechanical arm electromagnetic linear actuator 6 of putting into gear is articulated with on support 11 by rotating shaft, the guide rod of block selecting mechanical arm electromagnetic 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, the one end compensating fork 9 is articulated with on support 11 by rotating shaft, the other end and the trumpeter's armed lever 12 that compensate fork 9 are hinged, the other end of one trumpeter's armed lever 12 and block selecting push rod 8, connecting rod 13 of putting into gear is hinged, block selecting push rod 8 and block selecting driving link 7 are hinged, put into gear connecting rod 13 the other end with to put into gear driving link 10, 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 electromagnetic linear actuator 6 of putting into gear is articulated with driving link 10 of putting into gear, arm vertically modulating mechanism 4 is with clamping automobile gearbox control lever ball rod after nut screwing clamping.Putting into gear with in block selecting campaign, by block selecting driving link 7, driving link 10 of putting into gear, the transform linear motion of electromagnetic linear actuator is become rotary motion, transmit the thrust of electromagnetic linear actuator simultaneously, utilize block selecting angle displacement sensor and angle displacement sensor of putting into gear to record gear shifting manipulator when front hook coordinate figure.When the motion of block selecting mechanical arm electromagnetic linear actuator 5, driving link 10 holding position of putting into gear is constant, block selecting driving link 7 rotary motion around the shaft, drives block selecting push rod 8 to move, realize the block selecting action of gear shift lever of auto vehicles, the position of block selecting can be detected by block selecting angle displacement sensor in real time; When mechanical arm electromagnetic linear actuator 6 of putting into gear motion, block selecting driving link 7 holding position is constant, driving link 10 of putting into gear pivots, drive the parallel motion be made up of connecting rod 13, trumpeter's armed lever 12, two trumpeter's armed lever 14 of putting into gear, thus realize putting into gear and plucking gear action of automobile gear-box control lever, the position of putting into gear is obtained by angle displacement sensor of putting into gear.The compound motion of block selecting and both direction of putting into gear, can realize the gear shifting action of all gears of various variator.Two trumpeter's armed levers are except 14 transmitting force and complete except motion, additionally provide the regulating tank that can regulate arm length for gear shifting manipulator, realized the adjustment 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 being fastened by shifting vehicle gearbox handle clamp with coordinating of gear shifting manipulator clamping element 2, thus 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, throttle pedipulator sole 18 and throttle pedipulator shank bar 17 and adopt spherical hinge to be connected between throttle pedipulator thigh bar 16 with throttle pedipulator shank bar 17, wherein, throttle pedipulator thigh bar 16 is connected with throttle pedipulator electromagnetic linear actuator 15.
Braking pedipulator 29 comprises the mechanical legs and feet plate 22 of braking, braking pedipulator shank bar 21, braking pedipulator thigh bar 20, brake mechanical legs and feet plate 22 and braking pedipulator shank bar 21 and adopt spherical hinge to be connected between braking pedipulator thigh bar 20 with braking pedipulator shank bar 21, wherein, brake pedipulator thigh bar 20 to be connected with braking pedipulator electromagnetic linear actuator 19.
Clutch mechanism leg 20 comprises clutch mechanism legs and feet plate 26, clutch mechanism leg shank bar 25, clutch mechanism leg thigh bar 24, clutch mechanism legs and feet plate 26 and clutch mechanism leg shank bar 25 and adopt spherical hinge to be connected between clutch mechanism leg thigh bar 24 with clutch mechanism leg shank bar 25, wherein, clutch mechanism leg thigh bar 24 is connected with clutch mechanism leg electromagnetic linear actuator 23.
The pedipulator sole of pedipulator front portion is connected with pedal of vehicles, and pedipulator electromagnetic linear actuator driven pedipulator thigh bar and pedipulator shank bar control auto pedal.The one-piece construction of pedipulator thigh bar divides upper and lower two parts: the inside groove of upper part and four through holes are used for being fixedly linked with electromagnetic linear actuator, the elongate slots of lower part is for being fixedly connected with pedipulator shank bar, and the mechanical leg length of convenient adjustment 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 used for being fixedly connected with pedipulator thigh bar, the adjustment of the length of whole pedipulator is realized by regulating the position of pedipulator shank bar on pedipulator thigh bar, easily and effectively, practical operation only need by tightening two nuts; The latter half is used for and being fixedly connected with of pedipulator sole, and 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 used for being fixedly connected with pedipulator shank bar, bottom big groove is used for being fit into accelerator pedal of automobile, groove design can install the pedal model of any automobile, can the moving up and down and easy for installationly to save time of fixing quantity pedal.Owing to selecting electromagnetic linear actuator, and robot steps on the gas, brakes, the mode of motion of clutch pedal is rectilinear motion, so directly fix with pedipulator thigh bar after directly pedipulator electromagnetic linear actuator can being carried out local repacking, facilitate the transmission of power, simplification structural design and quality.To being adapted as of pedipulator electromagnetic linear actuator: process two circular holes on the appropriate location of pedipulator electromagnetic linear actuator front end craspedodrome bar, with bolt, pedipulator electromagnetic linear actuator is fixedly connected with pedipulator thigh bar, then in pedipulator electromagnetic linear actuator rear end, straight-bar is installed, and process circular hole, for the linking of support 11.
As shown in Figure 3: Electromagnetic Drive drive robot detecting and controlling system is with drive robot real-time control computer 31(digital signal processor TMS320F2812DSP chip) for core, DSP receives the information such as the current location of each topworks, the displacement of electromagnetic linear actuator and electric current, the speed of a motor vehicle and engine speed, compare with the target operating condition data pre-entered in storer according to obtained input data, calculate also output executing mechanism command signal in real time.The driving electromagnetic linear actuator of each topworks adopts the control mode of PWM, the control algolithm of electromagnetic linear actuator to adopt the double-loop control strategy of displacement and electric current.Electromagnetic linear actuator control unit receives the signal rear drive electromagnetic linear actuator of motion-control module 32, realizes the control to electromagnetic linear actuator.Electromagnetic Drive drive robot real-time control computer 31 controls throttle pedipulator 28, braking pedipulator 29, clutch mechanism leg 30(for the vehicle being 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 cycle of automatic driving vehicle.The engine speed of vehicle is transformed into analog voltage by measurement of engine rotate speed module 35, input real-time control computer 31 by data acquisition and Signal-regulated kinase 33, automobile speed measurement module 34 obtains the speed of a motor vehicle from the photoelectric sensor being arranged on vehicle tyre and inputs drive robot real-time control computer 31.Electromagnetic Drive drive robot is by electromagnetic linear actuator driven gear shifting manipulator 27 and throttle pedipulator 28, maneuver vehicle transmission shift lever, gas pedal, brake pedal, clutch pedal respectively such as braking pedipulator 29, clutch mechanism leg 30 etc.
After Electromagnetic Drive drive robot is installed and is fixed on vehicle, first drive robot real-time control computer 31 utilizes and is arranged on the stroke that linear displacement transducer on throttle, braking, clutch mechanism leg obtains different vehicle throttle, braking and clutch pedal, for motion planning and robot control sets up benchmark, thus adapt to the vehicle of different structure size.Then throttle pedipulator 28, braking pedipulator 29, clutch mechanism leg 30(is controlled respectively for the vehicle being equipped with automatic transmission by motion-control module 32, 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 is according to the current vehicle speed of vehicle and driving cycle cooperation control throttle, braking, clutch coupling and gearshift, deviation in the acceleration of speed tracking, deceleration and speed stabilizing stage according to target vehicle speed and current vehicle speed controls the recovery of throttle and detent and presses down, and realizes the accurate control of the speed of a motor vehicle.
Claims (2)
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-regulated kinase (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-regulated kinase (33), motion-control module (32) is connected with drive robot real-time control computer (31) with Signal-regulated kinase (33) with data acquisition, pedipulator controller comprises pedipulator electromagnetic linear actuator, pedipulator electromagnetic linear actuator control unit and the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, pedipulator electromagnetic linear actuator is connected with pedipulator, pedipulator electromagnetic linear actuator control unit is connected with pedipulator electromagnetic linear actuator with the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, gear shifting manipulator controller comprises block selecting mechanical arm electromagnetic linear actuator (5), to put into gear mechanical arm electromagnetic linear actuator (6), gear shifting manipulator electromagnetic linear actuator control unit (36), the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor (42), to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor (41), block selecting mechanical arm electromagnetic linear actuator (5) is all connected with support (11) and gear shifting manipulator electromagnetic linear actuator control unit (36) with mechanical arm electromagnetic linear actuator (6) of putting into gear, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor (42) are connected with block selecting mechanical arm electromagnetic linear actuator (5), the put into gear actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor (41) is connected with mechanical arm electromagnetic linear actuator (6) of putting into gear, gear shifting manipulator electromagnetic linear actuator control unit (36) is connected with motion-control module (32) with pedipulator electromagnetic linear actuator control unit, the actuator straight-line displacement of block selecting mechanical arm electromagnetic linear and current sensor (42), to put into gear the actuator straight-line displacement of mechanical arm electromagnetic linear and current sensor (41), the actuator straight-line displacement of pedipulator electromagnetic linear and current sensor, automobile speed measurement module (34) and measurement of engine rotate speed module (35) are connected with Signal-regulated kinase (33) with data acquisition respectively, wherein, gear shifting manipulator (27) comprises block selecting driving link (7), block selecting push rod (8), compensates fork (9), driving link of putting into gear (10), trumpeter's armed lever (12), 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 electromagnetic linear actuator (5) is connected with gear shifting manipulator (27) with mechanical arm electromagnetic linear actuator (6) of putting into gear, angle displacement sensor (40) is connected on block selecting driving link (7) and driving link of putting into gear (10), block selecting mechanical arm electromagnetic linear actuator (5) and support (11), to put into gear mechanical arm electromagnetic linear actuator (6) and support (11), block selecting mechanical arm electromagnetic linear actuator (5) and block selecting driving link (7), block selecting driving link (7) and support (11), compensate fork (9) and support (11), compensate 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), to put into gear connecting rod (13) and two trumpeter's armed levers (14), to put into gear driving link (10) and two trumpeter's armed levers (14), to 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) and gear shifting manipulator clamping element (2) all adopt spherical hinge connected mode to be connected, and arm level(l)ing mechanism (3) and arm vertically modulating mechanism (4) adopt and be flexibly connected.
2. 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, pedipulator sole and pedipulator shank bar and adopt spherical hinge to be connected between pedipulator thigh bar with pedipulator shank bar, wherein, pedipulator thigh bar is connected with pedipulator electromagnetic linear actuator.
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| 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 |
| 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 |
| 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 |
| CN106863304B (en) * | 2017-03-28 | 2019-08-30 | 南京理工大学 | A kind of scalableization Vehicle Driver Robot |
| CN109228856B (en) * | 2018-08-22 | 2021-06-08 | 南京理工大学 | Automatic mechanical hand of shifting of driving robot |
| CN109521674B (en) * | 2018-11-26 | 2021-10-29 | 东南大学 | Electric vehicle driving robot controller parameter self-learning method |
| 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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