CN108032305A - A kind of unmanned machine people for automobile - Google Patents
A kind of unmanned machine people for automobile Download PDFInfo
- Publication number
- CN108032305A CN108032305A CN201711232560.XA CN201711232560A CN108032305A CN 108032305 A CN108032305 A CN 108032305A CN 201711232560 A CN201711232560 A CN 201711232560A CN 108032305 A CN108032305 A CN 108032305A
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- pedipulator
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- gear shifting
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- motor
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- 230000008878 coupling Effects 0.000 claims description 23
- 238000010168 coupling process Methods 0.000 claims description 23
- 238000005859 coupling reaction Methods 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 15
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 210000000078 claw Anatomy 0.000 claims description 12
- 210000000245 forearm Anatomy 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 244000309464 bull Species 0.000 claims 1
- 238000012857 repacking Methods 0.000 abstract 1
- 210000002414 leg Anatomy 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of unmanned machine people for automobile, including steering mechanical hand, gear shifting manipulator cabinet, gear shifting manipulator control structure, gear shifting manipulator, three pedipulators, three pedipulator control structures and pedipulator cabinet, pedipulator cabinet is set on driver's seat in the car, pedipulator enclosure top is connected with gear shifting manipulator cabinet bottom, steering mechanical hand is fixed on gear shifting manipulator enclosure top, the present invention can replace the operation of mankind's progress car steering, available in drive routine and automobile test, the work burden of the mankind can be mitigated significantly；The present invention has good adaptability at the same time, can adapt to driver's cabin vehicle of different sizes；And installing and dismounting is easy, without carrying out any repacking to driving vehicle.
Description
Technical field
The invention belongs to automatic driving field, is specifically a kind of unmanned machine people for automobile.
Background technology
In recent years, auto industry is fast-developing, and the popularization of automobile greatly facilitates the production and life of people.But
Driven due to prolonged, driver can produce fatigue.For driver, drive to be not only the loss of time, or essence
The loss of power.With the development of intellectualized technology and automatic technology, people's demand one kind can replace oneself completing to drive
Sail the robot of operation.In vehicle test, due to obtain substantial amounts of data, it is necessary to do substantial amounts of experiment to vehicle.Such as
Fruit is that people is tested to drive vehicle, it is easy to accident occurs, then can be very good to solve this using unmanned machine people
A problem, and improve the efficiency and precision of experiment.Exist moreover, drive robot is applied to nuclear power station, weight chemical industry etc.
During the occasion seriously polluted, the labor intensity of the mankind can be mitigated, adverse circumstances are reduced and injured caused by human body, improve experiment
As a result objectivity and accuracy.
Drive robot steering mechanical hand is mainly the following in structure and type of drive at present：Chinese patent
201410174404.2 disclose a kind of automatic driving robot.Its steering wheel control structure is mainly by a disc type
Hollow motor drives, and is turned an angle by motor and speed controls steering column to move, so as to drive vehicle wheel rotation.Should
Device can lose the control ability to steering column in the case of emergency power off, while people can turn to determine steering wheel to control automobile
To tackle emergency.But this device still needs the intervention of driver, does not liberate driver completely.
Chinese patent 201410392104.1 discloses a kind of high-performance autonomous driving robot for automobile test, its
Steering wheel control section is made of clamping device and knuckle section, but clamping device is complicated, and device tilts, in vapour
During car traveling, there are stability problem.
Chinese patent 201710164083.1 discloses a kind of Vehicle Driver Robot steering mechanical hand, it is mainly by direction
Disk clamp device, tumbler, position adjustment structure three parts composition.Driven by servomotor, by shaft coupling, realization pair
The rotating requires of steering wheel.But motor tilts, and upright bar needs to bear the gravity of motor, is kept at an angle, in vapour
Easily go wrong during the long-time traveling of car.
Gear shifting manipulator structure and type of drive mainly have at present：Chinese patent 200420027440.8 discloses one kind seven
Connecting rod double freedom closed chain gear shifting manipulator, its gear shifting manipulator are driven using two cylinders, and advantage is simple in structure, flexible
It is good, disadvantage is that source of the gas, adds system structure weight, simultaneously because gas compressibility is bigger, cause precision low.
103631144 A of Chinese patent CN disclose a kind of electromagnetic drive Vehicle Driver Robot, its gear shifting manipulator
Directly driven using electromagnetic linear actuator.But its electromagnetic linear actuator is directly connected easily with manipulator due to gear selecting of shifting gears
Operation produces displacement bias, influences subsequently to hang shelves gearshift precision.
1058655805 A of Chinese patent CN disclose a kind of electromagnetic drive drive robot for automobile experiment, change
Gear robot section still uses seven-link assembly mechanism, realizes decoupling mechanically, and motor uses " servomotor+servomotor ",
Total system quality is larger, and device is more complicated.
Drive robot pedipulator is mainly the following in structure and type of drive at present：Chinese patent CN
1621990A discloses a kind of automobile experiment gas electric hybrid type driving robot, its clutch, braking pedipulator use locking gas
Cylinder drives, its advantage is the rapidity and compliance for having human driver's muscle, and shortcoming is that location control difficulty is big, source of the gas
Obtain relatively difficult.Its throttle pedipulator uses " motor+reduction gearing ", its advantage is positioning accuracy height, and shortcoming is installation
Required precision is higher, complicated.
106932205 A of Chinese patent CN disclose a kind of Vehicle Driver Robot based on linear motor driving, it is driven
Sail pedipulator and use " linear motor+linkage ", this structure positioning precision is high, is swift in response, and shortcoming is no emergency
Under emergency mechanism, security is relatively low.
102435442 B of Chinese patent CN disclose a kind of automatic robot driver for vehicle road test, it is driven
Sail pedipulator and use " motor+leading screw " structure, this structure control precision is high, speed responsive is fast, and shortcoming is that stability is poor.
The content of the invention
It is an object of the invention to provide a kind of unmanned machine people for running car, in normal driving and vapour
In car experiment, the present invention can substitute driver completely and carry out car steering, mitigate the work of the mankind.
The technical solution for realizing the object of the invention is：A kind of unmanned machine people for automobile, including turn to
Manipulator, gear shifting manipulator cabinet, gear shifting manipulator control structure, gear shifting manipulator, three pedipulators, three pedipulator controls
Structurally and mechanically leg cabinet, three pedipulators are clutch mechanical legs, brake pedipulator and throttle pedipulator, three machines
Tool leg control structure is clutch mechanical leg control structure, brakes pedipulator control structure and throttle pedipulator control structure, mechanical
Leg cabinet is set on driver's seat in the car, and pedipulator enclosure top is connected with gear shifting manipulator cabinet bottom, turning machine
Tool hand is fixed on gear shifting manipulator enclosure top.
Preferably, the steering mechanical hand portion includes lower plate, four armed levers, leading screw, leading screw guide rod, upper plate, big
Screw rod, small screw, motor clamping plate, servomotor, Hooks coupling universal coupling, retarder, connecting shaft, steering pawl disk, steering handgrip；Its
In, two big screw rod be placed in parallel gearshift cellphone box on, lower plate be installed between two big screw rod and lower plate two
End is connected with two big screw rod respectively, and lower plate can be moved axially along big screw rod, and four armed levers are divided into two groups, every group two
Armed lever composition scissor structure connection lower plate and upper plate, leading screw are connected on upper plate, and armed lever is connected by leading screw guide rod,
Two other small screw is installed in parallel on upper plate, and servomotor is clamped by motor clamping plate, is sleeved on two small screws, can be with
Moved axially along small screw, retarder is connected with servomotor, and one end of the connecting shaft is connected with retarder output terminal, and the other end connects
Hooks coupling universal coupling is connect, Hooks coupling universal coupling output terminal is fixedly connected with turning to pawl disk, is turned to handgrip and is set three, is fixed on steering pawl
On disk, and it is flexibly connected with steering wheel.
Preferably, the steering pawl disk includes large arm, forearm；Pawl disk is wherein turned to be fixedly connected with Hooks coupling universal coupling,
Large arm is connected in large arm along pawl dish axle is turned to setting, forearm by nut, is turned to handgrip and is fixed on forearm.
Preferably, the gear shifting manipulator control structure includes guide rail, swingle Two-Degree-of-Freedom mechanism, supporting mechanism, one
A linear rotating motor, linear rotating motor are fixed on the track base of guide rail, and track base is fixed on gear shifting manipulator cabinet,
Shaft one end and the retarder of linear rotating motor are connected, and retarder bottom is connected with guide rail, swingle Two-Degree-of-Freedom mechanism bag
A guide rail, three swingles, one retarder, two fixed links are included, swingle is made of the rod piece of two troughs of belt, by using
Nut, the position of screw rod fixing groove adjust swingle length, and the output shaft of motor is both straight line and rotating output shaft, subtract
The other end of fast device and a swingle rotation connection, three swingles are coupled by two fixed links, two other swingle
Coupled with guide rail by rotating.
Preferably, the supporting structure is made of support device, fixed guide rail slideway, three corner steadies, for supporting
Guide rail and swingle Two-Degree-of-Freedom mechanism.
Preferably, the gear shifting manipulator control structure further includes angle displacement sensor, linear displacement transducer.
Preferably, the gear shifting manipulator includes locking contiguous block, arm bar, ball handle and mechanical claw, arm bar
One end is connected with being connected the fixed link of two swingles, and locking contiguous block is sleeved on arm bar, by the length for adjusting revolving rod
Degree carrys out moving up and down for control machinery claw, fixing device is provided with manipulator claw, fixing device is equipped with groove by a piece of
Iron plate and threaded rod composition, fixing device by gear lever further by iron plate defined position with groove, by nut into
Row is fixed.
Preferably, the clutch mechanical leg control structure include the first hanging ring group, the first movable plate, first straight line motor,
First pedipulator catch bar, the first big baffle, the first spring, the first small front apron, the first bolt-connection, first clamping plate group, first
Hanging ring group, first straight line motor, the first big baffle and first clamping plate group are separately fixed on the first movable plate, and the first pedipulator pushes away
Lever and first straight line motor are affixed, and the first spring is affixed with the first big baffle and the first small front apron respectively, and the first big baffle is opened
There is a hole to make its back-and-forth motion without prejudice to the first pedipulator catch bar, the first small front apron and the first pedipulator catch bar are affixed,
First bolt-connection connects the upper lower clamp plate of first clamping plate group.
Preferably, the braking pedipulator control structure include the second hanging ring group, the second movable plate, second straight line motor,
Second pedipulator catch bar, second largest baffle, second spring, the second small front apron, the second bolt-connection, second clamping plate group, second
Hanging ring group, second straight line motor, second largest baffle and second clamping plate group are separately fixed on the second movable plate, and the second pedipulator pushes away
Lever and second straight line motor are affixed, and second spring is affixed with second largest baffle and the second small front apron respectively, and second largest baffle is opened
There is a hole to make its back-and-forth motion without prejudice to the second pedipulator catch bar, the second small front apron and the second pedipulator catch bar are affixed,
Second bolt-connection connects the upper lower clamp plate of second clamping plate group.
Preferably, the throttle pedipulator control structure include the 3rd hanging ring group, the 3rd movable plate, the 3rd linear motor,
3rd pedipulator catch bar, the 3rd small front apron, the 3rd spring, the third-largest baffle, the 3rd bolt-connection, three-ply board group, the 3rd
Hanging ring group, the 3rd linear motor, the third-largest baffle and three-ply board group are separately fixed on the 3rd movable plate, and the 3rd pedipulator pushes away
Lever and the 3rd linear motor are affixed, and the 3rd spring is affixed with the 3rd small front apron and the third-largest baffle respectively, and the third-largest baffle is opened
There is a hole to make its back-and-forth motion without prejudice to the 3rd pedipulator catch bar, the 3rd small front apron and the 3rd pedipulator catch bar are affixed,
3rd bolt-connection connects the upper lower clamp plate of three-ply board group.
The invention has the advantages that：（1）Steering mechanical hand getting scissor structure, can freely adjust turning machine
Tool hand moves up and down；（2）Steering mechanical hand is horizontal positioned, contributes to the normal output of motor；（3）Employ straight line electric rotating
Machine, alleviates overall quality and volume, while realizes decoupling mechanically, is moved along a straight line by guide rail and carries out gear selecting, rotation
Two actions that bar rotary motion is put into gear；（4）The structure that pedipulator employs " motor+spring " is driven, makes it urgent
In the case of can realize emergency braking under the action of its own mechanical structure；（5）The motor for driving pedipulator is fixed on movable plate
On, it is moved left and right according to three pedipulator control structures of distance between plates adjusting of stepping on of different automobile types, improve nobody
The adaptability of drive robot.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is described in further detail.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram for the unmanned machine people that the present invention is used for automobile.
Fig. 2 is the side view for the unmanned machine people that the present invention is used for automobile.
Fig. 3 is the top view for the unmanned machine people that the present invention is used for automobile.
Fig. 4 is the steering mechanical hand schematic diagram for the unmanned machine people that the present invention is used for automobile.
Fig. 5 is the steering mechanical hand portion structure diagram for the unmanned machine people that the present invention is used for automobile.
Fig. 6 is that the steering mechanical for the unmanned machine people that the present invention is used for automobile turns to the structural representation of handgrip on hand
Figure.
Fig. 7 is the gear shifting manipulator and pedipulator side schematic view for the unmanned machine people that the present invention is used for automobile.
Fig. 8 is the gear shifting manipulator of unmanned machine people and the top view of pedipulator that the present invention is used for automobile.
Fig. 9 is the clutch mechanism leg controlling unit structure diagram for the unmanned machine people that the present invention is used for automobile.
Figure 10 is the brake pedipulator controlling unit structure diagram for the unmanned machine people that the present invention is used for automobile.
Figure 11 is the throttle pedipulator controlling unit structure diagram for the unmanned machine people that the present invention is used for automobile.
Figure 12 is the pedipulator structure diagram for the unmanned machine people that the present invention is used for automobile.
Figure 13 is the clutch, brake, the vertical view of throttle pedipulator for the unmanned machine people that the present invention is used for automobile
Figure.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims and cover
The multitude of different ways of lid is implemented.
With reference to Fig. 1-5, the steering mechanical hand includes servomotor 1, motor clamping plate 2, small screw 3, retarder 4, company
Spindle 5, Hooks coupling universal coupling 6, turn to handgrip 7, forearm 8, large arm 9, turn to pawl disk 10, upper plate 11, armed lever 12, lower plate 13,
Leading screw 14, big screw rod 15, leading screw guide rod 16.
It is clear that two big screw rod 15 is placed in parallel on gear shifting manipulator cabinet from Fig. 2-5, lower plate 13
Between two big screw rod 15, lower plate 13 can be moved axially along big screw rod 15, be turned with adjusting drive robot
To the distance between manipulator and vehicle steering or so, treat that lower plate 13 is moved to suitable position, fixed with eight nuts
Lower plate, prevents drive robot lower plate in normal work from moving left and right；Four armed lever 12 forms scissor structure,
Leading screw 14 is connected by leading screw guide rod 16 with armed lever 12-1, by rotating threaded shaft 14, drives leading screw guide rod 16 to make axis along leading screw
To movement, so as to be moved with semaphore 12-1 along the groove of upper plate 11, then with grooves of the semaphore 12-2 along lower plate 13
Movement, so as to change the height of upper plate 11, adapts to the steering wheel of different height；Small screw 3 is placed in parallel on upper plate 11,
Motor clamping plate 2, which is bolted, is installed on servomotor 1 on two small screws 3, and motor clamping plate 2 can be along small screw 2
Move axially, the distance between to adjust before and after steering mechanical hand and vehicle steering, treat that motor clamping plate is moved to suitably
Position, the movement of motor clamping plate 2 is fixed with four nuts；Retarder 4 is connected with servomotor 1, it is possible to achieve increases moment of torsion
Effect, the output shaft of retarder 4 are connected by connecting shaft 5 with Hooks coupling universal coupling 6；Pawl disk 10 is turned to Hooks coupling universal coupling 6 to connect
Connect, the forearm 8 turned on pawl disk 10 can move in large arm 9, to adapt to the steering wheel of different-diameter size, treat that forearm moves
To after suitable position, fixed with nut.
As shown in fig. 6, the steering handgrip is made of oscillating rod 7-1, connecting rod 7-2, gripper frame 7-3, nut 7-4；Even
There is screw thread on extension bar 7-2, pass through mobile link bar 7-2, it is possible to achieve oscillating rod 7-1 is rotated on gripper frame 7-3, catches direction
During disk, steering wheel is caught with the gap between oscillating rod 7-1 and gripper frame 7-3, treats that connecting rod 7-2 is moved to suitable position
When, fixed with nut 7-4, so as to fulfill the operation that handgrip catches steering wheel is turned to.
As shown in Figure 7 and Figure 8, the gear shifting manipulator structure include guide rail 17, linear rotating motor 18, output shaft 19,
Track base 20, gear shifting manipulator cabinet 21, retarder 22,23, three swingles 24 of retarder base, 25,26, fixed link 27,
28th, contiguous block 29, arm bar 30, ball handle 31 and mechanical claw 32, reeded iron plate 33, threaded rod 34, support are locked
Device 80, fixed guide rail slideway 81, three corner steadies 82.
With reference to Fig. 7 and Fig. 8, the gear shifting manipulator control mechanism includes guide rail 17 and swingle Two-Degree-of-Freedom mechanism, one
A linear rotating motor 18, linear rotating motor 18 are fixed on the track base 20 of line slideway, and track base 20 is fixed on gearshift
On mechanical cellphone box 21.Shaft one end of linear rotating motor 18 is connected with retarder 22, and 22 bottom of retarder is solid with guide rail 17
Even.Guide rail 17 and swingle Two-Degree-of-Freedom mechanism include 17, three swingles 24,25,26 of a guide rail, a retarder 22,
Two fixed links 27,28, swingle is made of the rod piece of two troughs of belt, can be come by using the position of nut, screw rod fixing groove
Swingle length is adjusted, the output shaft 19 of motor is both straight line and rotating output shaft, the other end of retarder 22 and one
Swingle 24 is rotatablely connected, and three swingles 24,25,26 are coupled by two fixed links 27,28, two other swingle 25,
26 are coupled with guide rail 17 by rotating.80 and three corner steady of support device, 82 lower part is connected through a screw thread to be connected with pedipulator side wall
Connect, top is connected with fixed guide rail slideway 81,81 bearing guide rail of guide rail slideway and swingle Two-Degree-of-Freedom mechanism.
The manipulator includes locking contiguous block 29, arm bar 30, ball handle 31 and mechanical claw 32, arm bar 30 1
Hold and be connected with the fixed link 28 for being connected two swingles, locking contiguous block 29 is sleeved on arm bar 30, by adjusting revolving rod
Length carrys out moving up and down for control machinery claw 32, has further fixing device in manipulator claw 32, fixing device is by a piece of
If reeded iron plate 33 and threaded rod 34 form.Gear lever is further limited position by fixing device by iron plate 33 with groove
Put, be fixed by nut.
With reference to Fig. 9, the clutch mechanical leg control structure includes hanging ring group 35, movable plate 36, linear motor 37, machinery
Leg catch bar 38, big baffle 39, spring 40, small front apron 41, bolt-connection 42, clamping plate group 43, hanging ring group 35, linear motor 37,
Big baffle 39 is separately fixed on movable plate 36 with clamping plate group 43, and pedipulator catch bar 38 and linear motor 37 are affixed, spring 40
Affixed with big baffle 39 and small front apron 41 respectively, big baffle 39, which is provided with a hole, makes its front and rear shifting without prejudice to pedipulator catch bar 38
Dynamic, small front apron 41 and pedipulator catch bar 38 are affixed, the upper lower clamp plate of 42 connecting cleat group 43 of bolt-connection.
With reference to Figure 10, the braking pedipulator control structure includes hanging ring group 44, movable plate 45, linear motor 46, machinery
Leg catch bar 47, big baffle 48, spring 49, small front apron 50, bolt-connection 51, clamping plate group 52, hanging ring group 44, linear motor 46,
Big baffle 48 is separately fixed on movable plate 45 with clamping plate group 52, and pedipulator catch bar 47 and linear motor 46 are affixed, spring 49
Affixed with big baffle 48 and small front apron 50 respectively, big baffle 48, which is provided with a hole, makes its front and rear shifting without prejudice to pedipulator catch bar 47
Dynamic, small front apron 50 and pedipulator catch bar 47 are affixed, the upper lower clamp plate of 51 connecting cleat group 52 of bolt-connection.
With reference to Figure 11, the throttle pedipulator control structure includes hanging ring group 53, movable plate 54, linear motor 55, machinery
Leg catch bar 56, small front apron 57, spring 58, big baffle 59, bolt-connection 60, clamping plate group 61,53 groups of hanging ring, linear motor 55,
Big baffle 59 is separately fixed on movable plate 54 with clamping plate group 61, and pedipulator catch bar 56 and linear motor 55 are affixed, spring 58
Affixed with small front apron 57 and big baffle 59 respectively, big baffle 59, which is provided with a hole, makes its front and rear shifting without prejudice to pedipulator catch bar 56
Dynamic, small front apron 57 and pedipulator catch bar 56 are affixed, the upper lower clamp plate of 60 connecting cleat group 61 of bolt-connection.
With reference to Figure 12,13, it is identical that three pedipulators perform link structure, including pedipulator chassis backplane 62, machinery
Leg catch bar 63, sliding sleeve 64, pedipulator thigh bar 65, pedipulator shank bar, thread plug 69, claw 70, clamping plate 71, support plate
72, wherein pedipulator shank bar includes upper threaded rod 66, screw shell 67, lower threaded rod 68, upper threaded rod 66 and lower threaded rod
68 thread rotary orientations are on the contrary, pedipulator chassis backplane 62 is provided with a guide groove 74, and clamping plate 71 is with pedipulator chassis backplane 62 by leading
To 74 bolt-connection of groove, thigh bar 65 is rotatablely connected with support plate 72, and clamping plate 71 and support plate 72 are affixed, and it is convex that sliding sleeve 64 is equipped with one
Rise and be rotatablely connected with pedipulator catch bar 63, pedipulator thigh bar 65 and pedipulator shank bar are rotatablely connected, lower threaded rod 68 and
69 flexural pivot chain link of thread plug, thread plug 69 are threadedly coupled with claw 70.
With reference to Figure 13, guide rod 78 and guide rod 79 are respectively and fixedly connected on pedipulator cabinet side board 73, hanging ring group 35, hanging ring
Group 44, hanging ring group 53 be slidably connected respectively with guide rod 79, clamping plate group 43, clamping plate group 52, clamping plate group 61 respectively with guide rod 78
It is slidably connected.What is be connected by bolts screws degree, can control clamping plate group 43, clamping plate group 52, the opening and closing degree of clamping plate group 61, makes
Clamping plate group is fixed on a certain position of guide rod 78, is moved left and right with reference to hanging ring group on guide rod 79, you can realize pedipulator
Controlling unit moves left and right.With reference to Figure 11,12, what is be connected by bolts screws the guiding role of degree and guide groove 74, can
Realize that pedipulator performs moving left and right and fixing for link.The left and right synchronizing moving of link is controlled and performed by pedipulator, can
Adapt to the pedal distance of different automobile types.
With reference to Fig. 9, for linear motor 37 in range, spring 40 is in former long status.Stepping on the movement of clutch pedal
During, 37 power output of linear motor is acted on pedipulator catch bar 38, promotes pedipulator catch bar 38 to move forward, together
When, spring 40 starts to stretch.
With reference to Figure 10, for linear motor 46 in range, spring 49 is in former long status.Stepping on the fortune of braking pedal
During dynamic, 46 power output of linear motor is acted on pedipulator catch bar 47, promotes pedipulator catch bar 47 to move forward, together
When, spring 49 starts to stretch.
With reference to Figure 11, for linear motor 55 in minimum stroke, spring 58 is in former long status.In the movement of accelerator pedal
During, 55 power output of linear motor is acted on pedipulator catch bar 56, promotes pedipulator catch bar 56 to move forward, together
When, spring 58 starts to compress.During generation emergency, by spring 40, spring 49, spring 58 restoring force, realization step on clutch,
Touch on the brake, the action of accelerator releasing.
With reference to Figure 12, pedipulator catch bar 63 promotes sliding sleeve 64 to be moved up and down in pedipulator thigh bar 65, control machinery leg
The rotation angle of thigh bar 65, realizes the action for stepping on and lifting pedal.By screw shell 67 along axis along counterclockwise
Rotation, can adjust the length of shank bar, achieve the purpose that to adapt to different automobile types.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. unmanned machine people for automobile, it is characterised in that:Including steering mechanical hand, gear shifting manipulator cabinet （21）, gear shifting manipulator control structure, gear shifting manipulator, three pedipulators, three pedipulator control structures and pedipulator cabinet （73）, three pedipulators are clutch mechanical leg, braking pedipulator and throttle pedipulator, three pedipulator control structures It is clutch mechanical leg control structure, brakes pedipulator control structure and throttle pedipulator control structure, pedipulator cabinet（73）If Put on driver's seat in the car, pedipulator cabinet（73）Top and gear shifting manipulator cabinet（21）Bottom is connected, turning machine Tool hand is fixed on gear shifting manipulator enclosure top.
- 2. the unmanned machine people according to claim 1 for automobile, it is characterised in that：The steering mechanical hand Dividing includes lower plate（13）, four armed levers（12）, leading screw（14）, leading screw guide rod（16）, upper plate（11）, big screw rod（15）, it is small Screw rod（3）, motor clamping plate（2）, servomotor（1）, Hooks coupling universal coupling（6）, retarder（4）, connecting shaft（5）, turn to pawl disk （10）, turn to handgrip（7）；Wherein, two big screw rods（15）It is placed in parallel on gearshift cellphone box, lower plate（13）Installed in Two big screw rods（15）Between and lower plate（13）Both ends respectively with two big screw rods（15）Connection, lower plate（13）Can edge Big screw rod axial movement, four armed levers（12）It is divided into two groups, every group of two arms bar（12）Form scissor structure connection bottom Plate（13）And upper plate（11）, leading screw（14）It is connected to upper plate（11）On, pass through leading screw guide rod（16）Connect armed lever（12）, separately Outer two small screws（3）It is installed in parallel on upper plate（11）, servomotor（1）By motor clamping plate（2）Clamp, be sleeved on two small Screw rod（3）On, it can be moved axially along small screw, retarder（4）With servomotor（1）Connection, connecting shaft（5）One end is with subtracting Fast device（4）Output terminal connects, other end connection Hooks coupling universal coupling（6）, Hooks coupling universal coupling（6）Output terminal is with turning to pawl disk（10）Gu Fixed connection, turns to handgrip（7）Three are set, is fixed on and turns to pawl disk（10）On, and be flexibly connected with steering wheel.
- 3. the unmanned machine people according to claim 2 for automobile, it is characterised in that：The steering pawl disk （10）Including large arm（9）, forearm（8）；Wherein turn to pawl disk（10）With Hooks coupling universal coupling（6）It is fixedly connected, large arm（9）Along turn To pawl disk（10）It is axial to set, forearm（8）It is connected to by nut in large arm, turns to handgrip（7）It is fixed on forearm（8）On.
- 4. the unmanned machine people according to claim 1 for automobile, it is characterised in that：The gear shifting manipulator control Structure processed includes guide rail（17）, swingle Two-Degree-of-Freedom mechanism, supporting mechanism, a linear rotating motor（18）, straight line rotation Motor（18）It is fixed on guide rail（17）Track base（20）On, track base（20）It is fixed on gear shifting manipulator cabinet（21）On, directly Line electric rotating machine（18）Shaft one end and retarder（22）It is connected, retarder（22）Bottom and guide rail（17）It is connected, swingle Two-Degree-of-Freedom mechanism includes a guide rail（17）, three swingles（24）、（25）、（26）One retarder（22）, two fixations Bar（27）、（28）, swingle is made of the rod piece of two troughs of belt, and rotation is adjusted by using the position of nut, screw rod fixing groove Bar length, the output shaft of motor（19）It is both straight line and rotating output shaft, retarder（22）The other end and one rotation Bar（24）Rotation connection, three swingles（24）、（25）、（26）Pass through two fixed links（27）、（28）Connection, two other rotation Bull stick（25）、（26）With guide rail（17）Coupled by rotating.
- 5. the unmanned machine people according to claim 4 for automobile, it is characterised in that：The supporting structure by Support device（80）, fixed guide rail slideway（81）, three corner steadies（82）Composition, for supporting guide and swingle two degrees of freedom Mechanism.
- 6. the unmanned machine people according to claim 4 for automobile, it is characterised in that：The gear shifting manipulator control Structure processed further includes angle displacement sensor, linear displacement transducer.
- 7. the unmanned machine people according to claim 4 for automobile, it is characterised in that：The gear shifting manipulator bag Include locking contiguous block（29）, arm bar（30）, ball handle（31）And mechanical claw（32）, arm bar（30）One end is with being connected two The fixed link of a swingle（27）It is connected, locks contiguous block（29）It is sleeved on arm bar（30）On, by the length for adjusting revolving rod Degree carrys out control machinery claw（32）Move up and down, manipulator claw（32）Fixing device is inside provided with, fixing device is by a piece of If reeded iron plate（33）And threaded rod（34）Gear lever is further passed through iron plate with groove by composition, fixing device（33） Defined position, is fixed by nut.
- 8. the unmanned machine people according to claim 1 for automobile, it is characterised in that：The clutch mechanical leg control Structure processed includes the first hanging ring group（35）, the first movable plate（36）, first straight line motor（37）, the first pedipulator catch bar （38）, the first big baffle（39）, the first spring（40）, the first small front apron（41）, the first bolt-connection（42）, first clamping plate group （43）, the first hanging ring group（35）, first straight line motor（37）, the first big baffle（39）With first clamping plate group（43）It is separately fixed at First movable plate（36）On, the first pedipulator catch bar（38）With first straight line motor（37）It is affixed, the first spring（40）Respectively With the first big baffle（39）With the first small front apron（41）It is affixed, the first big baffle（39）Being provided with a hole makes it without prejudice to the first machinery Leg catch bar（38）Back-and-forth motion, the first small front apron（41）With the first pedipulator catch bar（38）It is affixed, the first bolt-connection （42）Connect first clamping plate group（43）Upper lower clamp plate.
- 9. the unmanned machine people according to claim 1 for automobile, it is characterised in that：The braking pedipulator control Structure processed includes the second hanging ring group（44）, the second movable plate（45）, second straight line motor（46）, the second pedipulator catch bar （47）, second largest baffle（48）, second spring（49）, the second small front apron（50）, the second bolt-connection（51）, second clamping plate group （52）, the second hanging ring group（44）, second straight line motor（46）, second largest baffle（48）With second clamping plate group（52）It is separately fixed at Second movable plate（45）On, the second pedipulator catch bar（47）With second straight line motor（46）It is affixed, second spring（49）Respectively With second largest baffle（48）With the second small front apron（50）It is affixed, second largest baffle（48）Being provided with a hole makes it without prejudice to the second machinery Leg catch bar（47）Back-and-forth motion, the second small front apron（50）With the second pedipulator catch bar（47）It is affixed, the second bolt-connection （51）Connect second clamping plate group（52）Upper lower clamp plate.
- 10. the unmanned machine people according to claim 1 for automobile, it is characterised in that：The throttle pedipulator Control structure includes the 3rd hanging ring group（53）, the 3rd movable plate（54）, the 3rd linear motor（55）, the 3rd pedipulator catch bar （56）, the 3rd small front apron（57）, the 3rd spring（58）, the third-largest baffle（59）, the 3rd bolt-connection（60）, three-ply board group （61）, the 3rd hanging ring group（53）, the 3rd linear motor（55）, the third-largest baffle（59）With three-ply board group（61）It is separately fixed at 3rd movable plate（54）On, the 3rd pedipulator catch bar（56）With the 3rd linear motor（55）It is affixed, the 3rd spring（58）Respectively With the 3rd small front apron（57）With the third-largest baffle（59）It is affixed, the third-largest baffle（59）Being provided with a hole makes it without prejudice to the 3rd machinery Leg catch bar（56）Back-and-forth motion, the 3rd small front apron（57）With the 3rd pedipulator catch bar（56）It is affixed, the 3rd bolt-connection （60）Connect three-ply board group（61）Upper lower clamp plate.
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| CN201711232560.XA CN108032305B (en) | 2017-11-30 | 2017-11-30 | Unmanned robot for automobile |
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| CN201711232560.XA CN108032305B (en) | 2017-11-30 | 2017-11-30 | Unmanned robot for automobile |
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| CN116483016B (en) * | 2023-06-25 | 2023-08-29 | 北京瀚科智翔科技发展有限公司 | Universal kit for unmanned modification of manned control equipment and implementation method |
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