CN105865805A - Electromagnetic drive robot driver for automobile tests - Google Patents
Electromagnetic drive robot driver for automobile tests Download PDFInfo
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- CN105865805A CN105865805A CN201610288985.1A CN201610288985A CN105865805A CN 105865805 A CN105865805 A CN 105865805A CN 201610288985 A CN201610288985 A CN 201610288985A CN 105865805 A CN105865805 A CN 105865805A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses an electromagnetic drive robot driver for automobile tests. The electromagnetic drive robot driver comprises a mechanical arm case, a mechanical arm, a mechanical arm control mechanism, a mechanical leg case, three mechanical legs and three mechanical leg control mechanisms. The top of the mechanical leg case is fixedly connected with the bottom of the mechanical arm case, the mechanical arm is connected with the mechanical arm case through the mechanical arm control mechanism, and the three mechanical legs are connected with the mechanical leg case through the three mechanical leg control mechanisms respectively. In automobile tests with high repeatability and long lasting time and without sufficient safety guarantees, the electromagnetic drive robot driver can completely replace a human driver for the automobile tests; besides, a more accurate and more objective test result can be obtained.
Description
Technical field
The invention belongs to automobile test automatic Pilot technology, be specifically related to a kind of Electromagnetic Drive drive robot for automobile test.
Background technology
In recent years, along with popularizing of automobile, automotive safety problem becomes the widespread consensus of society, simultaneously being continuously increased along with automobile pollution, and the harmful substance in vehicle exhaust causes problem of environmental pollution, has a strong impact on the quality of the life of people.Therefore, before a automobile comes into the market, it is necessary to it is carried out the emission test of strict safety test and repetitive cycling.It is clear that such experimental enviroment and under the conditions of, be not appropriate for driver and test, first the health of driver can be caused certain injury, secondly, repeat under experimental condition, the operation of driver can produce bigger error.Therefore, application drive robot, in automobile test, can improve test efficiency, improves test accuracy.
The research to Vehicle Driver Robot abroad has been carried out a lot of year, and its technology is the most ripe, applies quite varied, but the technical data of oneself product is holded in close confidence by offshore company, the most externally announces.The most famous has the U.S. Froude Consine, Kairos, Japan Horiba, Autopilot, Nissan Motor, Onosokki, Automax, Germany Schenck, Stable, Witt, Britain Mira, ABD etc..
The domestic research work proceeding by drive robot in middle 1990s, start to walk the most later, mainly some automotive research mechanism and institution of higher learning, the most representational DNC series drive robot being Southeast China University and developing with Nanjing Vehicle Research Inst., this is the first drive robot with autonomous property right of China.In recent years, the colleges and universities such as Institutes Of Technology Of Nanjing, Tsing-Hua University, Shanghai Communications University, Harbin Institute of Technology, Institutes Of Technology Of Taiyuan, China Automotive Technology & Research Center and research institution begin one's study automatic vehicle driving robot the most in succession.
The type of drive of drive robot mechanical hand mainly has following several at present:
Chinese patent 200420027440.8 discloses a kind of seven link lever bifreedom closed chain gear shift mechanical hand, its gear shifting manipulator uses two cylinders as driving, advantage is simple in construction, flexible, disadvantage is that source of the gas, add system structure and weight, simultaneously because gas compressibility is bigger, cause precision low.
Chinese patent 201410797965.8 discloses a kind of automotive synchronizer test bench gear shifting manipulator and controls device, its gear shifting manipulator uses " motor+cylinder " as driving, block selecting action is completed by servomotor, cylinder completes to hang shelves action, simple to operate, can simulate the gearshift effect of staff, its shortcoming is to be in tilted layout by cylinder between block selecting axle and gear-shifting rocker arm, causing system vibrations relatively big, impact gearshift effect, Simultaneous Stabilization is poor.
Chinese patent CN 102393308 B discloses a kind of drive robot for automobile test, and its gear shifting manipulator uses " servomotor+servomotor " as driving, and is respectively completed shifting operation.This gear shifting manipulator is suitable for dissimilar, the vehicle of different gearshift forms, but owing to two motors use vertical distribution mode, causes system structure the compactest, take up room bigger.
Chinese patent CN 103631144 A discloses a kind of Electromagnetic Drive Vehicle Driver Robot, and its changing gear manipulator uses electromagnetic linear executor directly to drive.But its electromagnetic linear executor is directly connected with mechanical hand easily owing to the operation of gear shift gear selecting produces displacement bias, affects follow-up extension gear shift precision.
And above-mentioned patent all exists a common problem, driving means is joined directly together with mechanical hand, and the athletic meeting of mechanical hand causes driving means to produce certain skew thus affects gearshift and hang shelves precision.
The device of drive robot pedipulator mainly has following several in structure and type of drive at present:
Chinese patent CN 2793786 Y discloses a kind of for automobile brake with the air control unit of clutch pedal, its pedipulator uses " pneumatic servo+linkage ", this structure uses the mode that air pressure drives, it is big that location controls difficulty, during real vehicle automatic Pilot, the acquisition of source of the gas is relatively difficult.
Chinese patent 200410065844.0 discloses a kind of gas electric hybrid type driving robot for automobile test, its pedipulator uses " motor+reduction gearing ", utilize rotating stepper motor and transmit moment of torsion by reduction gearing, drive the throttle pedipulator of drive robot, but the required precision that this structure is to installing is higher, structure is complicated.
Chinese patent CN 103631144 A discloses a kind of Electromagnetic Drive Vehicle Driver Robot, its pedipulator sole and pedipulator shank bar use spherical hinge to be connected with pedipulator thigh bar, the power output of motor can not be passed to pedipulator by this connected mode in time, and more power can be lost.When being connected between pedipulator thigh bar and the shank bar in this patent regulates pedipulator length adaptation different automobile types, it is impossible to the most fixing, easily produce in the motion of pedipulator and slide, cause test accuracy to reduce.
Summary of the invention
It is an object of the invention to provide a kind of Electromagnetic Drive drive robot for automobile test, in repeatability height, persistent period length, safety fail the automobile test that is to be fully ensured, the present invention can replace human driver to carry out automobile test completely, and it is more accurate, objective to enable to experimental result.
The technical solution realizing the object of the invention is: a kind of Electromagnetic Drive drive robot for automobile test, including mechanical hand cabinet, mechanical hand, manipulator control mechanism, pedipulator cabinet, three pedipulators and three pedipulator controlling organizations；Being connected bottom pedipulator enclosure top and mechanical hand cabinet, mechanical hand is connected with mechanical hand cabinet by manipulator control mechanism, and three pedipulators are connected with pedipulator cabinet by three pedipulator controlling organizations respectively.Described three pedipulator controlling organization structures are identical, arranged in parallel, and pedipulator controlling organization uses the first DC linear electric motor, first DC linear electric motor one end to be fixed on pedipulator cabinet, and the other end is connected with pedipulator.
Described pedipulator controlling organization also includes linear displacement transducer, and linear displacement transducer is arranged on the first DC linear electric motor.
Described pedipulator includes threaded rod, pedipulator shank bar, pedipulator thigh bar, pedipulator claw, pedipulator catch bar, shank link and sliding sleeve, pedipulator catch bar one end is stretched into pedipulator cabinet and is connected with DC linear electric motor, pedipulator thigh bar one end is connected with pedipulator shank bar one end, the other end is connected with pedipulator claw, the pedipulator shank bar other end is rotationally connected with shank link one end, it is respectively equipped with hanger on pedipulator shank bar and shank link, above-mentioned two hanger hand of spiral is contrary, and two hangers are connected by threaded rod；The shank link other end is provided with sliding sleeve, and sliding sleeve is rotationally connected with pedipulator cabinet, and the shank link between hanger and sliding sleeve is provided with projection, is rotationally connected with pedipulator catch bar by described projection.
Described pedipulator also includes force transducer, and force transducer is arranged on the pedipulator thigh bar controlling braking.
nullDescribed manipulator control mechanism includes seven-link assembly double freedom closed chain mechanism、Slider-crank mechanism and two the second DC linear electric motors，Slider-crank mechanism and two the second DC linear electric motors are arranged in mechanical hand cabinet，Two the second DC linear electric motors be arranged in parallel，One end is connected with mechanical hand cabinet respectively，Seven-link assembly double freedom closed chain mechanism includes a take-off lever、One fixing bar and two inputs，Two inputs are respectively the first rocking bar and the second rocking bar，Fixing bar is rotationally connected with mechanical hand cabinet，The other end of one the second DC linear electric motor is rotationally connected by ring flange and the first rocking bar，The other end of another the second DC linear electric motor is connected with the input of slider-crank mechanism by ring flange，Outfan and second rocking bar of slider-crank mechanism are rotationally connected，The take-off lever of seven-link assembly double freedom closed chain mechanism is connected with mechanical hand.
Described manipulator control mechanism also includes that angle displacement sensor, described angle displacement sensor are arranged on the ring flange of the second DC linear electric motor.
Described mechanical hand includes locking contiguous block, arm bar, ball handle, arm vertical adjusting bar and mechanical hand claw, arm bar one end is connected with the take-off lever of seven-link assembly double freedom closed chain mechanism, locking contiguous block is enclosed within arm bar, ball handle aspheric head end is connected with locking contiguous block, the bulb end of ball handle is provided with groove, arm vertical adjusting bar one end is threaded connection with groove, and the other end is provided with mechanical hand claw.
The present invention is compared with prior art, its remarkable advantage is: (1) have employed slider-crank mechanism, the linear motion of motor is passed to seven-link assembly mechanical hand with the form rotated, motor is allowed directly not to be connected with mechanical hand, thus avoid and when shelves are hung in mechanical hand gearshift, make motor fix the error that end forced displacement generation is unnecessary, improve precision.
(2) use external shackle structure to mix left-right rotary screw thread and can regulate the angle of pedipulator easily, to adapt to different vehicles.
(3) horizontal level of mechanical hand claw and upright position can be adjusted by locking contiguous block, arm vertical adjusting bar.
(4) position of mechanical hand can be monitored by angular displacement sensor in real time, position and the acceleration of motion of pedipulator can be obtained by linear displacement transducer and force transducer easily, greatly improve the precision of test.
(5) in repeatability height, persistent period length, safety fail the automobile test that is to be fully ensured, the present invention can replace human driver to carry out automobile test completely, and it is more accurate, objective to enable to experimental result.
Accompanying drawing explanation
Fig. 1 is the present invention population structure schematic diagram for the Electromagnetic Drive drive robot of automobile test.
Fig. 2 is the present invention top view for the Electromagnetic Drive drive robot of automobile test.
Fig. 3 is the present invention mechanical hand schematic diagram for the Electromagnetic Drive drive robot of automobile test.
Fig. 4 is the present invention structural representation for the pedipulator of the Electromagnetic Drive drive robot of automobile test.
Fig. 5 is the present invention top view for the pedipulator of the Electromagnetic Drive drive robot of automobile test.
Fig. 6 is the A-A sectional view of Fig. 5.
Fig. 7 is pedipulator fundamental diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
In conjunction with Fig. 1 to Fig. 6, a kind of Electromagnetic Drive drive robot for automobile test, including mechanical hand cabinet 1, mechanical hand, manipulator control mechanism, 30, three pedipulators of pedipulator cabinet and three pedipulator controlling organizations.It is connected bottom pedipulator cabinet 30 top and mechanical hand cabinet 1, mechanical hand is connected with mechanical hand cabinet 1 by manipulator control mechanism, article three, pedipulator is connected with pedipulator cabinet 30 by three pedipulator controlling organizations respectively, and three pedipulators are positioned at the same side of pedipulator cabinet 30.
In conjunction with Fig. 5, described three pedipulator controlling organization structures are identical, arranged in parallel, and pedipulator controlling organization uses the first DC linear electric motor 27, first DC linear electric motor 27 one end to be fixed on pedipulator cabinet 30, and the other end is connected with pedipulator.
Pedipulator controlling organization also includes that linear displacement transducer 28, linear displacement transducer 28 are arranged on the first DC linear electric motor 27.
In conjunction with Fig. 1, Fig. 5, Fig. 6 and Fig. 7, described pedipulator includes threaded rod 6, pedipulator shank bar 7, pedipulator thigh bar 8, pedipulator claw 9, pedipulator catch bar 29, shank link 31 and sliding sleeve 32, pedipulator catch bar 29 one end is stretched into pedipulator cabinet 30 and is connected with DC linear electric motor 27, pedipulator thigh bar 8 one end is connected with pedipulator shank bar 7 one end, the other end is connected with pedipulator claw 9, pedipulator shank bar 7 other end is rotationally connected with shank link 31 one end, pedipulator shank bar 7 is provided with hanger 5, shank link 31 is provided with hanger 5, above-mentioned two hanger 5 hand of spiral is contrary, two hangers 5 are connected by threaded rod 6；Shank link 31 other end is provided with sliding sleeve 32, and sliding sleeve 32 is rotationally connected with pedipulator cabinet 30, and the shank link 31 between hanger 5 and sliding sleeve 32 is provided with projection, is rotationally connected with pedipulator catch bar 29 by described projection.
Pedipulator also includes that force transducer 10, force transducer 10 are arranged on the pedipulator thigh bar 8 controlling braking.
In conjunction with Fig. 1, Fig. 2 and Fig. 3, described manipulator control mechanism includes seven-link assembly double freedom closed chain mechanism 17, slider-crank mechanism 25 and two the second DC linear electric motors 11, slider-crank mechanism 25 and two the second DC linear electric motors 11 are arranged in mechanical hand cabinet 1, for ensureing that output displacement be enough to gearshift and hung shelves action, two DC linear electric motors 11 are all fixed at the boss of mechanical hand cabinet 1 thus para-position moves and compensates.Mechanical hand cabinet 1 is stretched in seven-link assembly double freedom closed chain mechanism 17 one end, two the second DC linear electric motors 11 be arranged in parallel, one end is connected with mechanical hand cabinet 1 respectively, seven-link assembly double freedom closed chain mechanism 17 includes a take-off lever 16, one fixing bar 15 and two inputs, two inputs are respectively the first rocking bar 24 and the second rocking bar 19, fixing bar 15 is rotationally connected with mechanical hand cabinet 1, the other end of one the second DC linear electric motor 11 is rotationally connected by ring flange and the first rocking bar 24, the other end of another the second DC linear electric motor 11 is connected with the input of slider-crank mechanism 25 by ring flange, outfan and second rocking bar 19 of slider-crank mechanism 25 are rotationally connected, the take-off lever 16 of seven-link assembly double freedom closed chain mechanism 17 is connected with mechanical hand.
Manipulator control mechanism also includes that angle displacement sensor, described angle displacement sensor are arranged on the ring flange of the second DC linear electric motor 11.
In conjunction with Fig. 3, mechanical hand includes locking contiguous block 23, arm bar 2, ball handle 3, arm vertical adjusting bar 26 and mechanical hand claw 4, arm bar 2 one end is connected with seven-link assembly double freedom closed chain mechanism 17 take-off lever 16, locking contiguous block 23 is enclosed within arm bar 2, ball handle 3 aspheric head end is connected with locking contiguous block 23, the bulb end of ball handle 3 is provided with groove, and arm vertical adjusting bar 26 one end is threaded connection with groove, and the other end is provided with mechanical hand claw 4.By locking contiguous block 23 being arranged on the diverse location of arm bar 2, thus reach to regulate the purpose of the horizontal level of mechanical hand claw 4；Screwed in the degree of depth of groove by regulation arm vertical adjusting bar 26, reach to regulate the purpose of the upright position of mechanical hand claw 4.
Embodiment 1
A kind of Electromagnetic Drive drive robot for automobile test, including mechanical hand cabinet 1, mechanical hand, manipulator control mechanism, 30, three pedipulators of pedipulator cabinet and three pedipulator controlling organizations.It is connected bottom pedipulator cabinet 30 top and mechanical hand cabinet 1, is placed on driver seat and carries out automatic Pilot test.Mechanical hand is connected with mechanical hand cabinet 1 by manipulator control mechanism, and three pedipulators are connected with pedipulator cabinet 30 by three pedipulator controlling organizations respectively.
Described three pedipulator controlling organization structures are identical, arranged in parallel, pedipulator controlling organization uses the first DC linear electric motor 27, first DC linear electric motor 27 one end is fixed on pedipulator cabinet 30, the other end is connected with pedipulator, can export in real time and control the power needed for auto pedal motion for pedipulator.
Pedipulator controlling organization also includes that linear displacement transducer 28, linear displacement transducer 28 are arranged on the first DC linear electric motor 27, can obtain the position of pedipulator, the convenient size controlling the first DC linear electric motor power output in time.
Described pedipulator includes threaded rod 6, pedipulator shank bar 7, pedipulator thigh bar 8, pedipulator claw 9, pedipulator catch bar 29, shank link 31 and sliding sleeve 32, pedipulator catch bar 29 one end stretches into that pedipulator cabinet 30 and DC linear electric motor 27 is fixing to be connected, pedipulator thigh bar 8 one end uses with pedipulator shank bar 7 one end threadeds, external screw thread is had on pedipulator shank bar 7, female thread is had on pedipulator thigh bar 8, the degree of depth screwing in pedipulator thigh bar 8 by controlling pedipulator shank bar 7 regulates the total length of pedipulator to adapt to the lossless installation of different automobile types.Pedipulator thigh bar 8 other end uses with pedipulator claw 9 threadeds, and is fixed in pedipulator claw 9 by auto pedal by rotating machinery lower limb thigh bar 8.Pedipulator shank bar 7 other end is rotationally connected with shank link 31 one end, to regulate the angle that pedipulator opens, it is simple to installation lossless with auto pedal.Pedipulator shank bar 7 is provided with hanger 5, shank link 31 is provided with hanger 5, above-mentioned two hanger 5 is all connected with pedipulator shank bar 7 and shank link 31 by the way of being rotationally connected, above-mentioned two hanger 5 hand of spiral is contrary, two hangers 5 use threaded by threaded rod 6, shank link 31 and the angle of pedipulator shank bar 7 can be regulated, it is achieved the Fast Installation of drive robot by rotating threaded rod 6；Shank link 31 other end is provided with sliding sleeve 32, and sliding sleeve 32 is rotationally connected with pedipulator cabinet 30, by the power output of the first DC linear electric motor of pedipulator catch bar 29 transmission, can control the motion of pedipulator.Shank link 31 between hanger 5 and sliding sleeve 32 is provided with projection, is rotationally connected with pedipulator catch bar 29 by described projection.
Pedipulator also includes force transducer 10, force transducer 10 is arranged on the pedipulator thigh bar 8 controlling braking, can obtain easily and control the size of power on the pedipulator of braking, size in conjunction with the displacement that linear displacement transducer obtains, in that context it may be convenient to obtain controlling the speed of the pedipulator motion of braking.
Described manipulator control mechanism includes seven-link assembly double freedom closed chain mechanism 17, slider-crank mechanism 25 and two the second DC linear electric motors 11, slider-crank mechanism 25 and two the second DC linear electric motors 11 are arranged in mechanical hand cabinet 1, for ensureing that output displacement be enough to gearshift and hung shelves action, two DC linear electric motors 11 are fixed on the boss of mechanical hand cabinet 1 thus para-position moves and compensates, and are placed on driver seat and carry out automatic Pilot test.Mechanical hand cabinet 1 is stretched in seven-link assembly double freedom closed chain mechanism 17 one end, and two the second DC linear electric motors 11 be arranged in parallel, and one end is connected with mechanical hand cabinet 1 respectively, can export in real time and hang the power needed for shelves, gear selecting motion for manipulator control.Seven-link assembly double freedom closed chain mechanism 17 includes the fixing bar 15 of a take-off lever 16, and two inputs, two inputs are respectively first rocking bar the 24, second rocking bar 19, fixing bar 15 is rotationally connected with mechanical hand cabinet 1, the other end of one the second DC linear electric motor 11 is rotationally connected by ring flange and the first rocking bar 24, the power of motor is exported by rocking bar；The other end of another the second DC linear electric motor 11 is connected with the input of slider-crank mechanism 25 by ring flange, and outfan and second rocking bar 19 of slider-crank mechanism 25 are rotationally connected, and the power of motor are exported by crank.Seven-link assembly double freedom closed chain mechanism 17 take-off lever 16 is connected with mechanical hand.
Manipulator control mechanism also includes that angle displacement sensor, described angle displacement sensor are arranged on the ring flange of the second DC linear electric motor 11.Position is detected by sensor, power is converted into deviation angle and exports.
Mechanical hand includes locking contiguous block 23, arm bar 2, ball handle 3, arm vertical adjusting bar 26 and mechanical hand claw 4, arm bar 2 one end is connected with seven-link assembly double freedom closed chain mechanism 17 take-off lever 16, locking contiguous block 23 is enclosed within arm bar 2, ball handle 3 aspheric head end is connected with locking contiguous block 23, bulb end is provided with groove, arm vertical adjusting bar 26 one end is threaded connection with groove, and the other end is provided with mechanical hand claw 4.For regulating the upright position of gear shifting manipulator to adapt to for different automobile types, it is carried out by arm level(l)ing mechanism, and bolt is fixing to be connected, and by being fastened by shifting vehicle gearbox handle clamp with coordinating of mechanical hand claw 4, thus realizes the manipulation of shift handle.By locking contiguous block 23 being arranged on the diverse location of arm bar 2, thus reach to regulate the purpose of the horizontal level of mechanical hand claw 4；Screwed in the degree of depth of groove by regulation arm vertical adjusting bar 26, reach to regulate the purpose of the upright position of mechanical hand claw 4.
Operation principle: combine Fig. 7, in the motor process stepping on auto pedal, act on pedipulator catch bar 29 by the power of the first DC linear electric motor 27 output, pedipulator catch bar 29 promotes shank link 31 to move reciprocatingly along sliding sleeve 32, along with sliding sleeve 32 is around the rotation of pedipulator cabinet 30, the horizontal rectilinear motion of motor can be converted into moving along automobile pedal direction.Linear displacement transducer 28 moves with the moving situation of Real-time Feedback pedipulator, thus can realize the requirement of automobile running working condition along with the motion of pedipulator catch bar 29.
Putting into gear and in block selecting campaign, by first rocking bar the 24, second rocking bar 19, the transform linear motion of the electromagnetic linear executor of the second DC linear electric motor 11 is become rotary motion, transmit the thrust of electromagnetic linear executor simultaneously, utilize block selecting angular displacement sensor and angular displacement sensor of putting into gear to record gear shifting manipulator when front hook coordinate figure.When control block selecting mechanical hand second DC linear electric motor 11 motion time, second rocking bar 19 holding position is constant, first rocking bar 24 rotary motion around the shaft, double freedom closed chain mechanism 17 is driven 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 angular displacement sensor in real time.When control put into gear mechanical hand second DC linear electric motor 11 motion time, first rocking bar 24 holding position is constant, second rocking bar 19 pivots, drive and moved by connecting rod 18 of putting into gear, take-off lever 16, thus realize putting into gear and plucking gear action of automobile gear-box control lever, the position put into gear is obtained by angular displacement sensor of putting into gear.Block selecting and the compound motion of both direction of putting into gear, it is possible to achieve the gear shifting action of all gears of various variators.Take-off lever 16 as arm bar, except transmission power with in addition to completing motion, is additionally provided the locking contiguous block 23 being available for gear shifting manipulator regulation arm length, is realized the regulation of mechanical hand length by this governor motion, to be applicable to any vehicle.Owing to 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 the most different.By arm vertically modulating mechanism 26 for regulating the upright position of gear shifting manipulator to adapt to for different automobile types, it is carried out by arm level(l)ing mechanism, and bolt is fixing to be connected, by being fastened by shifting vehicle gearbox handle clamp with coordinating of mechanical hand claw 4, thus realize the manipulation of shift handle.Swing, because of rod member, the side-play amount produced in view of during motor movement, eliminate side-play amount to ensure that motor stabilizing exports by slider-crank mechanism 25.Second DC linear electric motor 11 is connected with slider-crank mechanism 25, by slider-crank mechanism 25, power is reached extension shelves driving link and realizes hanging shelves operation.
Claims (8)
1. the Electromagnetic Drive drive robot for automobile test, it is characterised in that: include mechanical hand cabinet (1), mechanical hand, manipulator control mechanism, pedipulator cabinet (30), three pedipulators and three pedipulator controlling organizations；Pedipulator cabinet (30) top is connected with mechanical hand cabinet (1) bottom, and mechanical hand is connected with mechanical hand cabinet (1) by manipulator control mechanism, and three pedipulators are connected with pedipulator cabinet (30) by three pedipulator controlling organizations respectively.
Electromagnetic Drive drive robot for automobile test the most according to claim 1, it is characterized in that: described three pedipulator controlling organization structures are identical, arranged in parallel, pedipulator controlling organization uses the first DC linear electric motor (27), first DC linear electric motor (27) one end is fixed on pedipulator cabinet (30), and the other end is connected with pedipulator.
Electromagnetic Drive drive robot for automobile test the most according to claim 2, it is characterized in that: described pedipulator controlling organization also includes that linear displacement transducer (28), linear displacement transducer (28) are arranged on the first DC linear electric motor (27).
nullElectromagnetic Drive drive robot for automobile test the most according to claim 2，It is characterized in that: described pedipulator includes threaded rod (6)、Pedipulator shank bar (7)、Pedipulator thigh bar (8)、Pedipulator claw (9)、Pedipulator catch bar (29)、Shank link (31) and sliding sleeve (32)，Pedipulator catch bar (29) one end is stretched into pedipulator cabinet (30) and is connected with DC linear electric motor (27)，Pedipulator thigh bar (8) one end is connected with pedipulator shank bar (7) one end，The other end is connected with pedipulator claw (9)，Pedipulator shank bar (7) other end is rotationally connected with shank link (31) one end，It is respectively equipped with hanger (5) on pedipulator shank bar (7) and shank link (31)，Above-mentioned two hanger (5) hand of spiral is contrary，Two hangers (5) are connected by threaded rod (6)；Shank link (31) other end is provided with sliding sleeve (32), sliding sleeve (32) is rotationally connected with pedipulator cabinet (30), shank link (31) between hanger (5) and sliding sleeve (32) is provided with projection, is rotationally connected with pedipulator catch bar (29) by described projection.
Electromagnetic Drive drive robot for automobile test the most according to claim 4, it is characterised in that: described pedipulator also includes that force transducer (10), force transducer (10) are arranged on the pedipulator thigh bar (8) controlling braking.
nullElectromagnetic Drive drive robot for automobile test the most according to claim 1，It is characterized in that: described manipulator control mechanism includes seven-link assembly double freedom closed chain mechanism (17)、Slider-crank mechanism (25) and two the second DC linear electric motors (11)，Slider-crank mechanism (25) and two the second DC linear electric motors (11) are arranged in mechanical hand cabinet (1)，Two the second DC linear electric motors (11) be arranged in parallel，One end is connected with mechanical hand cabinet (1) respectively，Seven-link assembly double freedom closed chain mechanism (17) includes a take-off lever (16)、One fixing bar (15) and two inputs，Two inputs are respectively the first rocking bar (24) and the second rocking bar (19)，Fixing bar (15) is rotationally connected with mechanical hand cabinet (1)，The other end of one the second DC linear electric motor (11) is rotationally connected by ring flange and the first rocking bar (24)，The other end of another the second DC linear electric motor (11) is connected with the input of slider-crank mechanism (25) by ring flange，Outfan and second rocking bar (19) of slider-crank mechanism (25) are rotationally connected，The take-off lever (16) of seven-link assembly double freedom closed chain mechanism (17) is connected with mechanical hand.
Electromagnetic Drive drive robot for automobile test the most according to claim 6, it is characterized in that: described manipulator control mechanism also includes that angle displacement sensor, described angle displacement sensor are arranged on the ring flange of the second DC linear electric motor (11).
Electromagnetic Drive drive robot for automobile test the most according to claim 6, it is characterized in that: described mechanical hand includes locking contiguous block (23), arm bar (2), ball handle (3), arm vertical adjusting bar (26) and mechanical hand claw (4), arm bar (2) one end is connected with the take-off lever (16) of seven-link assembly double freedom closed chain mechanism (17), locking contiguous block (23) is enclosed within arm bar (2), ball handle (3) aspheric head end is connected with locking contiguous block (23), the bulb end of ball handle (3) is provided with groove, arm vertical adjusting bar (26) one end is threaded connection with groove, the other end is provided with mechanical hand claw (4).
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| CN106828094A (en) * | 2017-01-17 | 2017-06-13 | 中国科学院重庆绿色智能技术研究院 | A kind of unmanned vehicle autonomous driving device |
| CN106863304A (en) * | 2017-03-28 | 2017-06-20 | 南京理工大学 | A kind of scalableization Vehicle Driver Robot |
| CN107036828A (en) * | 2017-05-10 | 2017-08-11 | 燕山大学 | A kind of vehicle type electric gearshift testing stand |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
| CN109540536A (en) * | 2017-09-21 | 2019-03-29 | 上汽通用五菱汽车股份有限公司 | A kind of regulating device controlling rotating speed of automobile engine |
| CN110082132A (en) * | 2019-06-05 | 2019-08-02 | 吉林大学 | A kind of pedipulator for autonomous driving vehicle pedal control |
| CN110091313A (en) * | 2019-04-25 | 2019-08-06 | 南京理工大学 | A kind of gear shifting manipulator based on parallel manipulator |
| CN113119085A (en) * | 2021-03-24 | 2021-07-16 | 北京航空航天大学 | Helicopter flight driving robot system |
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| CN106828094A (en) * | 2017-01-17 | 2017-06-13 | 中国科学院重庆绿色智能技术研究院 | A kind of unmanned vehicle autonomous driving device |
| 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 |
| CN107036828A (en) * | 2017-05-10 | 2017-08-11 | 燕山大学 | A kind of vehicle type electric gearshift testing stand |
| CN107036828B (en) * | 2017-05-10 | 2019-08-23 | 燕山大学 | A kind of vehicle type electric shift testing stand |
| CN109540536A (en) * | 2017-09-21 | 2019-03-29 | 上汽通用五菱汽车股份有限公司 | A kind of regulating device controlling rotating speed of automobile engine |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
| 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 |
| CN110082132A (en) * | 2019-06-05 | 2019-08-02 | 吉林大学 | A kind of pedipulator for autonomous driving vehicle pedal control |
| CN110082132B (en) * | 2019-06-05 | 2024-03-29 | 吉林大学 | Mechanical leg for pedal control of automatic driving automobile |
| CN113119085A (en) * | 2021-03-24 | 2021-07-16 | 北京航空航天大学 | Helicopter flight driving robot system |
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