CN111220390A - Intelligent robot for auxiliary test of automobile brake pedal performance - Google Patents
Intelligent robot for auxiliary test of automobile brake pedal performance Download PDFInfo
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- CN111220390A CN111220390A CN201911343795.5A CN201911343795A CN111220390A CN 111220390 A CN111220390 A CN 111220390A CN 201911343795 A CN201911343795 A CN 201911343795A CN 111220390 A CN111220390 A CN 111220390A
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- electric cylinder
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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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- 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
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- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention provides an intelligent robot for auxiliary test of automobile brake pedal performance, which comprises a fixed frame component, an electric cylinder fixing component, an electric cylinder component, a rocker arm component, a push-pull rod component and a controller, wherein the fixed frame component is fixed on a base; the upper end of the rocker arm assembly is hinged to the upper ends of the electric cylinder assembly and the push-pull rod assembly, the lower end of the electric cylinder assembly is rotatably connected with the lower end of the electric cylinder fixing assembly, the upper end of the electric cylinder fixing assembly is rotatably connected with the connecting rod, and the lower end of the push-pull rod assembly is connected with an automobile pedal through a pedal connecting plate; the controller is used for obtaining a current instruction of the electric cylinder driving motor according to the received pedal stroke signal and the change rate of the pedal stroke, and controlling the electric cylinder to work in a constant force mode, so that closed-loop control of applying pedal pressure to the automobile pedal is guaranteed. The invention realizes the automatic control of the action of the automobile brake pedal on the premise of not damaging any structure in the automobile.
Description
Technical Field
The invention is applied to automobile active safety tests such as ACATs (Advanced Crash Avoidance Technologies Advanced Crash prevention technology) and ADAS (Advanced Driver Assistance Systems), and particularly relates to an intelligent robot for automobile brake pedal performance auxiliary tests.
Background
With the rapid development of artificial intelligence and big data, the unmanned automobile receives more and more attention from the industry. In the development of a brake system, a tire test, a durability test and a test and algorithm for HEV (hybrid electric vehicle) control motor compensation acceleration, and EV (electric vehicle) motor control optimization of an unmanned automobile, a brake pedal control system plays a key role, and measures need to be taken to accurately evaluate various parameters of pedal control.
At present, most of unmanned automobile manufacturers and evaluation units at home and abroad adopt a manual test (namely, a driver operates a brake pedal of an automobile to be tested) mode to evaluate a brake pedal control system, and the following defects are mainly existed: (1) the precision and consistency of multiple repeatability tests are poor; (2) in experiments requiring a large amount of repeatability, such as durability experiments, the driver is subjected to excessive tedious labor; (3) in some occasions, the operation of a driver in the automobile is dangerous; (4) accurate pedal volume data, such as the opening of the accelerator pedal and its rate of change, cannot be obtained.
Therefore, a robot capable of automatically realizing the performance test of the brake pedal of the unmanned automobile is needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the intelligent robot for the auxiliary test of the performance of the automobile brake pedal.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides an intelligent robot for auxiliary testing of automobile brake pedal performance, which is characterized by comprising a fixed frame component, an electric cylinder fixed component, an electric cylinder component, a rocker arm component, a push-pull rod component, a pedal connecting plate and a controller, wherein the fixed frame component is fixedly connected with the electric cylinder fixed component; the connection relationship of each component is as follows:
the fixed frame component is fixed around a main driver seat and formed by connecting a plurality of aluminum profiles, the front ends of the aluminum profiles positioned at two sides of the main driver seat are connected through a connecting rod, the lower end of the rocker arm component is sleeved on the connecting rod and can rotate around the connecting rod, the upper end of the rocker arm component is hinged with the upper ends of the electric cylinder component and the push-pull rod component at the same time, the lower end of the electric cylinder component is rotatably connected with the lower end of the electric cylinder fixing component, the upper end of the electric cylinder fixing component is rotatably connected with the connecting rod, and the lower end of the push-pull rod component is connected with an automobile pedal;
the electric cylinder assembly is provided with an electric cylinder, a first output terminal, a third input terminal and a stroke sensor, and the push-pull rod assembly is provided with a second output terminal and a force sensor; the controller has a first input terminal, a second input terminal, and a third output terminal; the first input terminal is connected with the first output terminal and is used for receiving a pedal stroke signal measured by the stroke sensor; the second input terminal is connected with the second output terminal for receiving a pedal force signal measured by the force sensor; the controller is used for obtaining a current instruction of the electric cylinder driving motor according to the received pedal stroke signal and the change rate of the pedal stroke, and the current instruction controls the electric cylinder to work in a constant force mode through the third output terminal and the third input terminal, so that closed-loop control of applying pedal pressure to the automobile pedal is realized.
The invention has the characteristics and beneficial effects that:
the invention provides an intelligent robot for auxiliary test of automobile brake pedal performance, which is fixedly arranged beside an automobile main driving seat, does not change the structure of a vehicle, does not damage any structure in the automobile (such as drilling a threaded hole on the bottom surface in a cab), can realize automatic control of the action of an automobile brake pedal, can provide parameters such as a pedal stroke-time curve, a pedal force-time curve and the like, and provides powerful support for design optimization of an automobile safety system and a control system.
The invention effectively overcomes the defect that the brake pedal is operated by a driver, and has the advantages that: (1) the precision and consistency of repeated repeatability tests are good; (2) the driver is liberated, and the excessive complicated labor borne by the driver is avoided; (3) the danger to the driver is avoided. (4) The method effectively obtains automobile pedal parameters (including pedal stroke and pedal stroke change rate) which are difficult to obtain before, and controls the electric cylinder driving motor to compensate insufficient power of an automobile engine during acceleration by utilizing the pedal data, so that closed-loop control of the automobile pedal is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of an intelligent robot for assisting in testing the performance of an automobile brake pedal according to an embodiment of the present invention.
Figure 2 is a schematic view of the mounting frame assembly of the testing mechanism of figure 1.
Fig. 3 is a schematic structural view of the electric cylinder fixing assembly of fig. 1.
Fig. 4 is a schematic structural view of the electric cylinder assembly shown in fig. 1.
Fig. 5 is a schematic view of the push-pull rod assembly of fig. 1.
Fig. 6 is a schematic structural view of the rocker arm assembly of fig. 1.
Fig. 7 is a schematic structural diagram of a neural network embedded in the controller in fig. 1.
Detailed Description
The structure and the working principle of the invention are further explained by combining the drawings as follows:
referring to fig. 1 and 2, the intelligent robot for the auxiliary testing of the automobile brake pedal performance in the embodiment of the invention comprises a fixed frame assembly 2, an electric cylinder fixing assembly 3, an electric cylinder assembly 4, a rocker arm assembly 6, a push-pull rod assembly 7, a pedal connecting plate 9 and a controller 11, wherein the rocker arm assembly 6, the push-pull rod assembly 7 and the pedal connecting plate 9 form an actuating mechanism. Wherein, fixed frame subassembly 2 is fixed around car seat 1 (being main driver's seat), constitute by connecting a plurality of aluminium alloy 21, the aluminium alloy 21 front end that is located car seat 1 seat both sides is connected through a connecting rod 24, the pot head is established at 6 lower extremes of rocking arm subassembly and is established at connecting rod 24 and can rotate around this connecting rod 24, 6 upper ends of rocking arm subassembly are articulated with electronic jar subassembly 4 and push-pull rod subassembly 7 upper end simultaneously, 4 lower extremes of electronic jar subassembly rotate with 3 lower extremes of electronic jar fixed subassembly through pin 5 and are connected, 3 upper ends of electronic jar fixed subassembly rotate with connecting rod 24 and are connected, 7 lower extremes of push-pull rod subassembly pass through footboard connecting plate 9 and are connected with automobile pedal 10. The electric cylinder assembly 4 has an electric cylinder, a first output terminal 45, a third input terminal 46, and a stroke sensor (the stroke sensor is not shown in the drawings), and the push-pull rod assembly 7 has a second output terminal 75 and a force sensor 73; the controller 11 may be placed on the passenger seat, the controller 11 having a first input terminal 111, a second input terminal 113 and a third output terminal 112, the first input terminal 111 being connected to the first output terminal 45 of the electric cylinder assembly 4 for receiving the pedal stroke signal measured by the stroke sensor, the second input terminal 113 being connected to the second output terminal 75 of the push-pull rod assembly 7 for receiving the pedal force signal measured by the force sensor 73, the third output terminal 112 being connected to the third input terminal 46 of the electric cylinder assembly 4 for transmitting a current command of the electric cylinder driving motor predicted by the controller 11 based on the received pedal stroke signal and the rate of change of the pedal stroke (including a real-time measurement value and a history measurement value), the current command performing closed-loop current control of the electric cylinder through the third output terminal 112 and the third input terminal 46 so that the actual current of the electric cylinder driving motor follows the current command in real time, thereby controlling the electric cylinder to work in a constant force mode, and further realizing closed-loop control of pedal pressure (the pedal pressure is constant force) applied to the automobile pedal 10 by the electric cylinder assembly 4 through the actuating mechanism.
The specific implementation modes and functions of the components in this embodiment are as follows:
referring to fig. 1 and 2, the fixed frame assembly 2 of the testing mechanism is fixed on the automobile seat 1, preferably on the backrest and the periphery of the seat of the automobile seat 1, by using two ratchet belts (not shown in the figure), and other assemblies are fixed on the fixed frame assembly 2 of the testing mechanism, so that the whole automatic testing mechanism for the performance of the automobile brake pedal is fixed. Wherein, utilize two briquetting 23 to link firmly connecting rod 24 on two aluminium alloy connector 22, each aluminium alloy connector 22 links firmly with the front end of seat both sides aluminium alloy 21 respectively.
Referring to fig. 3, the electric cylinder fixing assembly 3 includes a fixing arm integrally formed by two arc-shaped side walls 31 and a bottom plate 32, one end of each of the two arc-shaped side walls 31 is fixedly connected with an aluminum profile 34 through a bolt 33, and one end of each of the aluminum profiles 34 is fixed with the connecting rod 24 through a pressing block 35 sleeved on the connecting rod 24; an electric cylinder tail fixing block 36 is fixed on the bottom plate 32 of the fixing arm in a welding or screw connection mode, and the electric cylinder tail fixing block 36 is rotatably connected with the lower end of the electric cylinder assembly 4.
Referring to fig. 4, the electric cylinder assembly 4 is formed by sequentially connecting a fisheye connector 41, an electric cylinder and a U-shaped fixing head 44. The electric cylinder converts the rotary motion of the driving motor therein into linear motion and outputs the linear motion by the output shaft 32, and a cylinder barrel 43 of the electric cylinder is internally provided with a stroke sensor. The lower end of a cylinder barrel 43 of the electric cylinder is fixedly connected with a U-shaped fixing head 44, a first output terminal 45 and a third input terminal 46 are arranged on the outer side wall of the cylinder barrel 43, the first output terminal 45 is connected with a first input terminal 111 of the controller 11 and used for transmitting pedal stroke signals collected by a stroke sensor to the controller 11, the third input terminal 46 is connected with a third output terminal 112 of the controller and used for receiving a driving motor current command given by the controller 11, and the electric cylinder responds to the command. The end of the output shaft 42 of the electric cylinder is fixedly connected with the fisheye connecting head 41. The U-shaped fixing head 44 is connected to the electric cylinder tail fixing block 36 in the electric cylinder fixing assembly 3 through the pin 5, so that the lower end of the electric cylinder assembly 4 can rotate around the pin 5. The fisheye connecting head 41 of the electric cylinder assembly 4 is sleeved on the upper end of the rocker arm assembly 6 to form a hinge joint.
Referring to fig. 5, the push-pull rod assembly 7 is composed of an upper fisheye connector 71, a push-pull rod 72, a force sensor 73 and a lower fisheye connector 74 which are connected in sequence. The fisheye joint 71 at the upper end of the push-pull rod assembly 7 is sleeved on the upper end of the rocker arm assembly 6 to form a hinge joint. The fisheye joint 74 at the lower end of the push-pull rod assembly 7 is hinged with the pedal connecting plate 9 through the pin 8. After the electric cylinder responds according to a current command of an electric cylinder driving motor sent by a controller, an output shaft 42 of the electric cylinder sequentially passes through the fisheye connector 41, the rocker arm assembly 6, the push-pull rod assembly 7 and the pedal connecting plate 9 to realize the braking operation of the automobile pedal 10. The force sensor 73 is used for measuring the pressure applied by the actuator to the vehicle pedal 10 in real time, and the pedal pressure is used as a key performance parameter of the pedal and is used for reflecting the safety of vehicle braking.
Referring to fig. 6, the rocker arm assembly 6 includes a rocker arm 62 and a rocker arm barrel 63 secured by welding. The upper end of the rocker arm 62 is provided with a hole for the rocker arm pin 61 to pass through, and the rocker arm pin 61 is respectively sleeved with the fisheye connectors at the upper ends of the electric cylinder assembly 4 and the push-pull rod assembly 7, so that the electric cylinder assembly 4, the push-pull rod assembly 7 and the rocker arm assembly 6 are hinged. The rocker barrel 63 fits over the connecting rod 24 so that the rocker arm assembly 6 can rotate freely about the connecting rod 24.
The controller 11 is used as the 'brain' of the testing robot and is used for ensuring that the pressure applied to the automobile pedal 10 by the electric cylinder assembly 4 through the actuating mechanism is constant force, so that the precision and consistency of repeated tests on the automobile pedal are ensured. In the present embodiment, the controller 11 includes a housing 114 on which a first input terminal 111, a second input terminal 113, and a third output terminal 112 are provided, and a modified BP neural network, which takes a pedal stroke signal and a pedal stroke change rate measured by a stroke sensor as inputs and an automobile acceleration intention and an engine compensation acceleration (motor compensation depends on the acceleration intention), is integrated in the housing 114, see fig. 7. The improved BP neural network adopts a fuzzy BP network, has a plurality of neurons, and is divided into an input layer and a hidden layer output layer. The improved BP neural network is trained by utilizing the measured pedal stroke and the pedal stroke change rate, so that the power shortage of an automobile engine during acceleration is controlled to compensate by the electric cylinder driving motor, and the closed-loop control of the automobile pedal is realized.
The working principle of the robot is as follows: initially, the vehicle pedal 10 is in an initial free position. The electric cylinder assembly 4 is electrified, the driving motor of the electric cylinder works, the output shaft 42 of the electric cylinder retracts into the cylinder barrel 43 of the electric cylinder, the output shaft 42 drives the rocker arm assembly 6 to rotate around the connecting rod 24, the push-pull rod assembly 7 further moves downwards, and the pedal connecting plate 9 and the automobile pedal 10 are pressed down. The pressure applied to the automobile pedal 10 by the execution mechanism is measured in real time through the force sensor 73, the pedal stroke is measured through the stroke sensor in the electric cylinder, the controller 11 judges the current state of the automobile pedal 10 according to the received pedal stroke signal and the change rate of the pedal stroke and performs acceleration compensation on the driving motor of the electric cylinder to obtain a current instruction of the driving motor of the electric cylinder, the driving motor of the electric cylinder and the output shaft 32 are controlled to work in a constant-force closed-loop mode according to the current instruction, and then the pressure applied to the automobile pedal 10 by the electric cylinder assembly 4 through the execution mechanism is kept unchanged, so that the consistency and the precision of repeated tests are guaranteed. Thereafter, the electric cylinder is de-energized, and the pedal is retracted to the initial free position. When the robot breaks down suddenly and cannot execute corresponding actions, a driver performs manual braking, and safe operation of testing is guaranteed.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention and is not actually limited thereto. Therefore, if the person skilled in the art receives the teaching, it is within the scope of the present invention to design the similar manner and embodiments without departing from the spirit of the invention.
Claims (6)
1. An intelligent robot for auxiliary testing of automobile brake pedal performance is characterized by comprising a fixed frame component (2), an electric cylinder fixed component (3), an electric cylinder component (4), a rocker arm component (6), a push-pull rod component (7), a pedal connecting plate (9) and a controller (11); the connection relationship of each component is as follows:
the fixed frame component (2) is fixed around a main driving seat and formed by connecting a plurality of aluminum profiles (21), the front ends of the aluminum profiles (21) positioned at two sides of the main driving seat are connected through a connecting rod (24), the lower end of the rocker arm component (6) is sleeved on the connecting rod (24) and can rotate around the connecting rod (24), the upper end of the rocker arm component (6) is hinged with the upper ends of the electric cylinder component (4) and the push-pull rod component (7), the lower end of the electric cylinder component (4) is rotatably connected with the lower end of the electric cylinder fixing component (3), the upper end of the electric cylinder fixing component (3) is rotatably connected with the connecting rod (24), and the lower end of the push-pull rod component (7) is connected with an automobile pedal (10) through the pedal connecting plate (9);
the electric cylinder assembly (4) is provided with an electric cylinder, a first output terminal (45), a third input terminal (46) and a stroke sensor, and the push-pull rod assembly (7) is provided with a second output terminal (75) and a force sensor (73); the controller (11) has a first input terminal (111), a second input terminal (113) and a third output terminal (112); the first input terminal (111) is connected with the first output terminal (45) for receiving a pedal stroke signal measured by the stroke sensor; the second input terminal (113) is connected with the second output terminal (75) for receiving a pedal force signal measured by the force sensor (73); the controller (11) is used for obtaining a current instruction of the electric cylinder driving motor according to the received pedal stroke signal and the change rate of the pedal stroke, and the current instruction controls the electric cylinder to work in a constant force mode through the third output terminal (112) and the third input terminal (46) so as to realize closed-loop control of applying pedal pressure to the automobile pedal (10).
2. The intelligent robot according to claim 1, characterized in that the controller (11) is embedded with a fuzzy BP neural network having pedal stroke signals and pedal stroke change rates measured by the stroke sensors as inputs and automobile acceleration intention and engine compensation acceleration as outputs.
3. The intelligent robot according to claim 1, wherein the electric cylinder fixing component (3) comprises a fixing arm integrally formed by two arc-shaped side walls (31) and a bottom plate (32), one end of each of the two arc-shaped side walls (31) is fixedly connected with an aluminum profile (34), and one end of each aluminum profile (34) is fixed with the connecting rod (24) through a pressing block (35) sleeved on the connecting rod (24); and an electric cylinder tail fixing block (36) is fixed on a bottom plate (32) of the fixing arm, and the electric cylinder tail fixing block (36) is rotatably connected with the lower end of the electric cylinder assembly (4).
4. The smart robot according to claim 1, characterized in that the electric cylinder assembly (4) further has a first connection head (41) and a fixed head (44); the stroke sensor is positioned in a cylinder barrel (43) of the electric cylinder; the lower end of a cylinder barrel (43) of the electric cylinder is fixedly connected with the fixed head (44), and the fixed head (44) is rotatably connected with the lower end of the electric cylinder fixing component (3); the first output terminal (45) and the third input terminal (46) are both positioned on the outer side wall of the cylinder barrel (43); the end part of an output shaft (42) of the electric cylinder is fixedly connected with a first connecting head (41), and the first connecting head (41) is sleeved at the upper end of the rocker arm component (6) to form hinge joint.
5. The intelligent robot according to claim 1, wherein the push-pull rod assembly (7) comprises an upper end connector (71), a push-pull rod (72), the force sensor (73) and a lower end connector (74) which are connected in sequence; the upper end connector (71) is sleeved at the upper end of the rocker arm assembly (6) to form a hinge joint; the lower end connector (74) is hinged with the pedal connecting plate (9).
6. The smart robot as claimed in claim 1, characterized in that said rocker arm assembly (6) comprises a rocker arm (62) and a rocker arm cylinder (63) fixed by welding; the upper end of the rocker arm (62) is provided with a hole for a rocker arm pin (61) to pass through, and the rocker arm pin (61) is respectively hinged with the upper ends of the electric cylinder assembly (4) and the push-pull rod assembly (7); the rocker arm cylinder (63) is sleeved on the connecting rod (24) and can freely rotate around the connecting rod (24).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911343795.5A CN111220390A (en) | 2019-12-24 | 2019-12-24 | Intelligent robot for auxiliary test of automobile brake pedal performance |
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| CN201911343795.5A CN111220390A (en) | 2019-12-24 | 2019-12-24 | Intelligent robot for auxiliary test of automobile brake pedal performance |
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| CN111220390A true CN111220390A (en) | 2020-06-02 |
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| CN201911343795.5A Pending CN111220390A (en) | 2019-12-24 | 2019-12-24 | Intelligent robot for auxiliary test of automobile brake pedal performance |
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Cited By (3)
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| EP3984844A1 (en) * | 2020-10-13 | 2022-04-20 | Autonomous A2Z | Braking robot for braking test of vehicle |
| CN114427979A (en) * | 2022-02-08 | 2022-05-03 | 中国重汽集团济南动力有限公司 | Boundary indicating device for front and lower visual field blind area of automobile driver and using method thereof |
| CN116147939A (en) * | 2023-04-20 | 2023-05-23 | 山东方力汽车零部件有限公司 | Automobile pedal testing structure |
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| CN116147939A (en) * | 2023-04-20 | 2023-05-23 | 山东方力汽车零部件有限公司 | Automobile pedal testing structure |
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Application publication date: 20200602 |