CN204269382U - A kind of high-performance autonomous driving robot for automobile test - Google Patents

Abstract

The utility model provides a kind of high-performance autonomous driving robot for automobile test, comprise the control module that has default program compiler, this high-performance autonomous driving robot performs relevant action according to described pre-set programs, one information feedback module comprising a series of sensing element, sensing element gathers the action of this high-performance autonomous driving robot and is converted to and can feeds back to control module by input signal, with a driver module, this driver module comprises a series of driver element and a series of executive component, wherein executive component has corresponding driver element separately, one bearing circle of executive component difference Control experiment automobile, one shifting element and a velocity control element, drive unit drives executive component realizes the rectilinear motion of preset direction, information feedback module is arranged at driver module, with the operation displacement of monitoring driving module and speed, control module is run according to the corresponding driver element of the feedback signal instruction of information feedback module or is stopped.

Description

A kind of high-performance autonomous driving robot for automobile test

Technical field

The utility model relates to a kind of robot, in particular to a kind of high-performance autonomous driving robot for automobile test, belong to automobile test field, wherein in automotive dynamic testing process, this autonomous driving robot can replace the automobile test ride personnel of specialty to drive a car, thus completes relevant automobile test work.

Background technology

Automobile is the closely-related vehicles of our everyday life, and the trip for people adds many facilities.Along with the raising of national economy and the development of science and technology, the consuming capacity of people is also in improve, automobile also belongs to higher-priced luxury goods decades ago, the family of small part just has the ability to bear, and nowadays along with the change of living condition, increasing family all has the ability to put and purchases at least one automobile, and the automobile quantity of the superior family of some economic condition also can be more.

In the epoch of this development in science and technology, we, when sighing with feeling traffic trip convenient, do not allow to despise, and we also need to be concerned about this large problem of safety trip more urgently.Traffic hazard all can occur every day continually, gently then causes the breakage of vehicle, heavy then cause the injures and deaths of personnel, and such accident causes no small injury to a lot of family, and some family is also therefore broken.Traffic accident is suddenly in tiger, the reason caused a traffic accident some be because the driving reason of driver, such as human pilot is driven when intoxicated, violation operation driving etc., some reason is because the problem existing for vehicle self, the brake system existing problems of such as vehicle, drive for traffic and bury potential safety hazard.The potential safety hazard that wherein self driving problem of driver is brought only needs human pilot to enhance your vigilance in driving procedure at ordinary times, can avoid unnecessary injures and deaths.And the potential safety hazard brought due to vehicle sole mass problem is just as a time bomb, do not know when and where can cause not expected injury to human pilot, be worth us to improve attention rate.

The sole mass problem of automobile not only can cause personal injury to driver, also breaking of degree of belief can be caused to automobile vendor, the vehicle of certain brand is also occurred with us by the case that the whole world is recalled due to quality problems, concerning we consumer, this is a thing being worth us to enhance your vigilance.When putting and purchasing automobile, the various aspects of performance of automobile has become our focus, the actual performance that we also wish automobile really can general how described by sale of automobile person, and its performance data can reduce as far as possible exaggerates composition, and this also will be a kind of safe guarantee for consumer.

In order to ensure the sole mass of automobile, each automobile all has to pass through strict quality testing before dispatching from the factory.Wherein the quality testing of automobile not only comprises the static check of automobile function part, also comprises the dynamic test of various simulated roadway, thus checks each convenient function of this automobile whether to meet standard.The dynamic test of simulated roadway is that a kind of automobile test ride personnel of specialty drive this automobile on simulated roadway, thus obtains the automobile test method of the performance data of each side.The dynamic test of simulated roadway completed by the automobile test ride personnel of specialty, although automobile test ride personnel have higher professional, to automobile, also there is darker understanding, but the intensity of dynamic test is larger, continuation is strong, has certain danger, and if this automobile really there are serious quality problems, in dynamic test process, there occurs any accident, this is also a kind of injury to automobile test ride personnel.Automobile test ride personnel are quality in order to ensure each automobile dispatched from the factory and do experiment, and therefore we also need the personal safety ensureing automobile test ride personnel.

In order to improve the personal safety of automobile test ride personnel, utilizing drive robot to replace automobile test ride personnel to drive a car is a kind of novel research technique, drive robot has possessed the operation of all expections by programming, the operational motion that automobile test ride personnel can complete can be completed, replace automobile test ride human users's automobile thus obtain the detection data needed for testing staff.Relatively early, technology is relative maturity also, but the gordian technique of drive robot is also in the secret stage in external drive robot technical development.And domestic drive robot is started late, technology is also not external ripe, has also encountered many problems, be in developing stage always in the process of development test drive robot.The volume of drive robot domestic is at present comparatively large, installs inconvenient, side by side, does not also have good adaptability in the test of dissimilar vehicle, and this causes impact to a certain degree for dynamic test.In addition dynamic test be have variable, how to improve the precise manipulation of autonomous driving robot, test figure is made to be more accurately all the time made great efforts work, we are desirably ensureing the personal safety of automobile test ride personnel simultaneously, ensure that each side operation of test ride robot can be the same flexible with automobile test ride personnel simultaneously, thus obtain accurately reliable test figure.

Utility model content

Fundamental purpose of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, wherein in automotive dynamic testing process, this autonomous driving robot can replace the automobile test ride personnel of specialty to drive a car, thus completes relevant automobile test work.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, wherein in automotive dynamic testing process, this autonomous driving robot can replace the automobile test ride personnel of specialty to drive a car, thus alleviate the labour intensity of automobile test ride personnel, to a certain extent for its personal safety provides safeguard.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, and wherein this autonomous driving robot architecture is simple, does not relate to complicated parts, thus makes small volume.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, wherein this autonomous driving robot provides a connection pedestal, all the other each structures are connected to this connection pedestal, by the connection of this connection pedestal and automotive seat, this drive robot can be installed on automobile, easy for installation.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, the wherein gear shifting manipulator of this autonomous driving robot, the structures such as pedipulator and bearing circle Control Component can both make adjustment according to the position form of different vehicle, thus all have adaptability for different vehicle.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, and wherein this autonomous driving robot adopts servomotor, thus has accurate feasibility.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, and wherein this autonomous driving robot has memory capability, does not need teaching again after power is turned off.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, wherein this autonomous driving robot is installed in after on automobile, each parts because of rocking of vehicle in the process of moving and deviation post, can not can not affect the accuracy of test.

Another object of the present utility model is to provide a kind of high-performance autonomous driving robot for automobile test, and wherein all parts of this autonomous driving robot removably links together, and be convenient to combination dismounting, some parts can be replaced after having broken.

In order to realize above object, the invention provides a kind of high-performance autonomous driving robot for automobile test, comprise a control module, one information feedback module, one driver module and an actuator positions adjusting module, wherein said control module has a program compiler preset, and described high-performance autonomous driving robot performs relevant action according to described pre-set programs.

Described information feedback module comprises a series of sensing element, and described sensing element gathers the action of described high-performance autonomous driving robot and is converted to and can feeds back to described control module by input signal.Described driver module comprises a series of driver element and a series of executive component, wherein said executive component has respective corresponding described driver element, one bearing circle of every described executive component difference Control experiment automobile, one shifting element and a velocity control element, described in described drive unit drives, executive component realizes the rectilinear motion of preset direction, described information feedback module is arranged at described driver module, to monitor operation displacement and the speed of described driver module, described control module is run according to the corresponding described driver element of the feedback signal instruction of described information feedback module or is stopped.Described executive component adjusting module is arranged at every described executive component respectively, operate the direction, present position that described executive component adjusting module changes every described executive component, when making described high-performance autonomous driving robot be applied to dissimilar use automobile, every described executive component can be positioned at suitable position to realize precise manipulation.

It is worth mentioning that, described driver element adopts the type of drive of servomotor.

It is worth mentioning that, the described executive component of the velocity control element of Control experiment automobile is one group of pedipulator, described pedipulator is under the driving of corresponding described driver element, instruction according to described control module performs rectilinear motion towards velocity control element, realize pressing down and reclaiming of velocity control element, thus the change speed of a motor vehicle, the different straight-line displacement amounts of every described pedipulator represent the corresponding different speed of a motor vehicle.

It is worth mentioning that, the described pre-set programs of described control module compiles according to teaching activity, makes described high-performance autonomous driving robot have memory capability.

It is worth mentioning that, described driver module is a velocity control assemblies, one gear Control Component and a bearing circle Control Component, the velocity control element of wherein said velocity control assemblies control operation test car, the shifting element of described gear Control Component control operation test car, the bearing circle of described bearing circle Control Component control operation test car.

It is worth mentioning that, described high-performance autonomous driving robot comprises a connection pedestal further, described velocity control assemblies, described gear Control Component and described bearing circle Control Component are removably connected to described connection pedestal respectively, when described high-performance autonomous driving robot is applied to automobile test, described connection pedestal is fixed in a seat of test car.

It is worth mentioning that, described connection pedestal comprises one first face plate of foundation and one second face plate of foundation, wherein said second face plate of foundation upwards extends the rear part edge of described first face plate of foundation, a pair first web members respectively on extend described first face plate of foundation, a pair second web members are respectively to front extending described second face plate of foundation, a pair the 3rd web members are respectively to the front portion above extending described first face plate of foundation, described velocity control assemblies is removably connected to described connection pedestal via described 3rd web member, described gear Control Component is removably connected to described connection pedestal via described first web member and described second web member, described bearing circle Control Component is removably connected to described gear Control Component.

It is worth mentioning that, described velocity control assemblies comprises one group of pedipulator and one group of pedipulator driver element, every described pedipulator driver element is arranged at the upper end of every described pedipulator, every described pedipulator comprises pipe in a pedipulator outer tube and a pedipulator, in wherein said pedipulator, pipe is built in described pedipulator outer tube movably, in described pedipulator, pipe is connected to described pedipulator driver element, in pedipulator described in described pedipulator drive unit drives, pipe realizes the rectilinear motion back and forth of preset direction, in described pedipulator, pipe acts on the velocity control element of test car, thus realize pressing down and reclaiming of velocity control element.

It is worth mentioning that, described 3rd web member comprises a connection substrate and a hook-type latch segment, wherein said connection substrate upwards extends the front portion of described first face plate of foundation, described hook-type latch segment is connected to described connection substrate rotationally, described hook-type latch segment and described connection substrate define formation one connecting link connection chamber, one connecting link is arranged between described 3rd web member, described connecting link has a pair connecting link connecting end portion, described connecting link connecting end portion is placed in described connecting link connection chamber, described connecting link is made removably to be connected to described connection pedestal with this, one group of pedipulator fixation kit is arranged at every described pedipulator, described connecting link is through every described pedipulator fixation kit, every described pedipulator fixation kit fixes corresponding described pedipulator simultaneously, described velocity control assemblies is made to be connected to described connection pedestal with this.

It is worth mentioning that, described pedipulator fixation kit has a horizontal stationary pipes and a longitudinal stationary pipes, wherein said longitudinal stationary pipes upwards extends described horizontal stationary pipes, described connecting link is through described horizontal stationary pipes, described longitudinal stationary pipes is made up of the identical symmetrical two arc fixed panels of structure, described in two, arc fixed panel connects via screw, thus make described pedipulator be fastened onto described longitudinal stationary pipes, by rotating its gib screw, described longitudinal stationary pipes can be made to be in non-tightening state, thus change the fixed position of described pedipulator.

It is worth mentioning that, the xsect of described connecting link connecting end portion is polygon, and the cavity geometry of described connecting link connection chamber matches in the shape of described connecting link connecting end portion.

It is worth mentioning that, described actuator positions adjusting module comprises one group of pedipulator position adjustment part, every described pedipulator position adjustment part is connected to the lower surface of every described horizontal stationary pipes, wherein said pedipulator position adjustment part comprises adjustment part force end and an adjustment part forced section, the stressed end of described adjustment part has a long fixed pin, one short fixed pin and a connecting rod, described short fixed pin is positioned at the back lower place of described long fixed pin, described connecting rod extends to described short fixed pin via described long fixed pin, described adjustment part forced section comprises a fixing fork arm and a flexible fork arm, wherein said fixing fork arm is fixed in described horizontal stationary pipes, described flexible fork arm is through described fixing fork arm, described long fixed pin is through the end of described fixing fork arm, described short fixed pin is through the end of described flexible fork arm, described adjustment part forced section is made to be connected to described adjustment part force end with this, described flexible fork arm has scalability, described adjustment part force end comprises a pull bar further, by pulling the rotatable described pedipulator fixation kit of described pull bar, thus change the angle of inclination of described pedipulator.

It is worth mentioning that, described gear Control Component comprises a gear shifting manipulator and a gearshift driver element, described gear shifting manipulator is connected to the shifting element of test car, described gearshift driver element comprises an X to driver element and a Y-direction driver element, described X is to gear shifting manipulator described in drive unit drives along X to carrying out the rectilinear motion come and gone, gear shifting manipulator described in described Y-direction drive unit drives along Y-direction carry out come and go rectilinear motion, described X to driver element and described Y-direction driver element separate.

It is worth mentioning that, described gear Control Component comprises a housing further, described housing is connected to described connection pedestal via described first web member and described second web member, described X is arranged at described housing to driver element, described Y-direction driver element is connected to described gear shifting manipulator, one mechanical arm fixation kit is arranged at described gear Control Component, and described gear shifting manipulator is removably connected to described X to driver element by described mechanical arm fixation kit.

It is worth mentioning that, described gear shifting manipulator comprises pipe in a mechanical arm outer tube and a mechanical arm, in described mechanical arm, pipe is built in described mechanical arm outer tube movably, the housing of described Y-direction driver element extends the lower surface of described mechanical arm outer tube, in described mechanical arm, pipe is connected to described Y-direction driver element, in mechanical arm described in described Y-direction drive unit drives, the rectilinear motion come and gone carried out by pipe along Y-direction, one drive link extends to described mechanical arm fixation kit via described X to driver element, described X is to drive link described in drive unit drives along X to carrying out the rectilinear motion come and gone, thus the X realizing described gear shifting manipulator to movement.

It is worth mentioning that, described mechanical arm fixation kit comprises mechanical arm first fixture and mechanical arm second fixture, described mechanical arm first fixture has a mechanical arm pickup groove, described gear shifting manipulator is fixed in described mechanical arm pickup groove, described mechanical arm first fixture has the coupling shaft connection chamber of a transverse direction, the coupling shaft of one transverse direction extends described mechanical arm second fixture, described coupling shaft is through described coupling shaft connection chamber, thus make described mechanical arm first fixture be connected to described mechanical arm second fixture separably, the outlet of described coupling shaft connection chamber is provided with an elastic locking portion and a fixed handle, described fixed handle extends described elastic locking portion, by rotating described fixed handle, described mechanical arm first fixture is made securely to be connected to described mechanical arm second fixture, make described gear shifting manipulator be fastened onto described mechanical arm pickup groove simultaneously.

Described actuator positions adjusting module comprises a position of manipulator adjusting lever further, described position of manipulator adjusting lever upwards extends the end of described drive link, described mechanical arm second fixture has the adjusting lever holding tank of a longitudinal direction, described position of manipulator adjusting lever is fixed on described adjusting lever holding tank separably, thus can change the clip position of described mechanical arm fixation kit to described position of manipulator adjusting lever.

It is worth mentioning that, described gear Control Component comprises a gear retaining piece further, described gear retaining piece is connected to the end of pipe in described mechanical arm separably, described gear retaining piece has a fixing chamber, and a gear shift head of the shifting element 92 of test car is placed on described fixing chamber.

It is worth mentioning that, described actuator positions adjusting module comprises a runing rest position adjustment part further, described runing rest position adjustment part extends to described bearing circle Control Component via described housing, described runing rest position adjustment part comprises one first support bar, one second support bar and one regulates connecting portion, wherein said second support bar extends described housing, described first support bar is connected to described second support bar rotationally via described adjustment connecting portion, described first support bar is connected to described bearing circle Control Component simultaneously, one adjusting handle is arranged at described adjustment connecting portion, by rotating described adjusting handle rotatably described first support bar, thus change the angle of inclination of described bearing circle Control Component.

It is worth mentioning that, described bearing circle Control Component comprises a bearing circle clamping part and a rotating of steering wheel assembly, wherein said bearing circle clamping part is used for the wheel rim of the bearing circle of clamp assay automobile, described rotating of steering wheel assembly comprises a runing rest, one power part, one rotating part and a location division, wherein said rotating part extends to described runing rest by described power part, described location division is arranged at described rotating part, described bearing circle clamping part is connected to described runing rest separably, described first support bar is connected to described location division, described power part drives described rotating part to rotate, thus drive the rotation of described runing rest and described bearing circle clamping part, the bearing circle of test car is rotated.

Also it is worth mentioning that, described bearing circle clamping part comprises an adjusting portion and a fixed part, wherein said fixed part is connected to described runing rest, described adjusting portion is rotatably connected to described fixed part, distance between described adjusting portion and described fixed part can be changed by rotating described adjusting portion, one retaining ring is arranged at described adjusting portion, and described adjusting portion is used for the wheel rim of the bearing circle of clamp assay automobile.

Accompanying drawing explanation

Fig. 1 is in the use schematic diagram of automobile test according to the high-performance autonomous driving robot application of a preferred embodiment of the present utility model.

Fig. 2 is the structural representation of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 3 is the vertical view of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 4 is the side view of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 5 is the velocity control assemblies structural representation of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 6 is the pedipulator position adjustment part exploded perspective view of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 7 is the connection base construction schematic diagram of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 8 is the structural representation of the mechanical arm fixation kit of high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Fig. 9 A and Fig. 9 B is the structure side view of mechanical arm first fixture of high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Figure 10 A and Figure 10 B is the structure side view of mechanical arm second fixture of high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Figure 11 is the bearing circle Control Component exploded perspective view of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Figure 12 is the rotating of steering wheel assembly exploded perspective view of the high-performance autonomous driving robot according to above preferred embodiment of the present utility model.

Embodiment

Below describe and realize the present invention for disclosing the present invention to enable those skilled in the art.Preferred embodiment in below describing only as an example, it may occur to persons skilled in the art that other apparent modification.The ultimate principle of the present invention defined in the following description can be applied to other embodiments, deformation program, improvement project, equivalent and not deviate from the other technologies scheme of the spirit and scope of the present invention.

As shown in Figures 1 to 4, the preferred embodiments of the present invention provide a kind of high-performance autonomous driving robot being applied to automobile test, described high-performance autonomous driving robot, comprise a control module, one information feedback module and a driver module, wherein said control module has a program compiler preset, and described high-performance autonomous driving robot performs relevant action according to described pre-set programs.Described information feedback module comprises a series of sensing element, and described sensing element gathers the action of described high-performance autonomous driving robot and is converted to and can feeds back to described control module by input signal.Described driver module comprises a series of driver element and a series of executive component, wherein said executive component has respective corresponding described driver element, one bearing circle 91 of described executive component difference Control experiment automobile, one shifting element 92 and a velocity control element 93, described in described drive unit drives, executive component realizes the rectilinear motion of preset direction, described information feedback module is arranged at described driver module, to monitor operation displacement and the speed of described driver module, described control module is run according to the corresponding described driver element of the feedback signal instruction of described information feedback module or is stopped.It is worth mentioning that, described driver element adopts the type of drive of servomotor.

Described high-performance autonomous driving robot comprises an actuator positions adjusting module 6 further, described executive component adjusting module 6 is arranged at every described executive component respectively, operate the direction, present position that described executive component adjusting module 6 changes every described executive component, when making described high-performance autonomous driving robot be applied to dissimilar use automobile, every described executive component can be positioned at suitable position to realize precise manipulation.

Described driver module is a velocity control assemblies 1, one gear Control Component 2 and a bearing circle Control Component 3, the velocity control element 93 of wherein said velocity control assemblies 1 control operation test car, the shifting element 92 of described gear Control Component 2 control operation test car, the bearing circle 91 of described bearing circle Control Component 3 control operation test car.

When described velocity control assemblies 1 carries out reciprocal rectilinear motion along direction residing for velocity control element 93, the velocity control element 93 of test car is achieved to the pressure effect of different depth, thus the position of velocity control element 93 is changed, the travelling speed of test car is changed with this.

Described gear Control Component 2 controls a gear shift lever of test car, the i.e. shifting element 92 of test car, when described velocity control assemblies 1 acts on the velocity control element 93 of test car, the motion of velocity control element 93 changes the travelling speed of test car, when the travelling speed of test car changes, gear residing for test car also will change along with the change of speed, the speed of certain limit corresponds to a corresponding gear, therefore the mating reaction of described gear Control Component 2 is in described velocity control assemblies 1, when described gear Control Component 2 receives the velocity pick-up of described velocity control assemblies 1, described gear Control Component 2 makes corresponding action according to the setting of program, thus drive the gear shift lever of test car to be able to carry out rectilinear motion with X-direction and Y-direction respectively, thus complete the switching of gear.

Described bearing circle Control Component 3 is by towards the bearing circle 91 being fixed on test car, when described bearing circle Control Component 3 makes corresponding rotation according to pre-set programs, the bearing circle 91 be fixedly connected with it can be driven, thus make bearing circle 91 be subject to corresponding action control.

As shown in Figure 5, described velocity control assemblies 1 comprises one group of pedipulator and one group of pedipulator driver element, the described executive component of the velocity control element 93 of Control experiment automobile is one group of pedipulator, described pedipulator is under the driving of corresponding described driver element, instruction according to described control module performs rectilinear motion towards velocity control element 93, realize pressing down and reclaiming of velocity control element 93, thus the change speed of a motor vehicle, the different straight-line displacement amounts of every described pedipulator represent the corresponding different speed of a motor vehicle.

Every described pedipulator driver element is arranged at the upper end of every described pedipulator, every described pedipulator comprises pipe in a pedipulator outer tube and a pedipulator, in wherein said pedipulator, pipe is built in described pedipulator outer tube movably, in described pedipulator, pipe is connected to described pedipulator driver element, in pedipulator described in described pedipulator drive unit drives, pipe realizes the rectilinear motion back and forth of preset direction, in described pedipulator, pipe acts on the velocity control element 93 of test car, thus realizes pressing down and reclaiming of velocity control element 93.

For the test car of automatic catch, its velocity control element 93 comprises a brake pedal and a gas pedal, and therefore described velocity control assemblies 1 comprises throttle pedipulator 11 and a braking pedipulator 12, acts on gas pedal and brake pedal respectively.And for the test car of manual gear, velocity control element 93 also comprises a clutch pedal, therefore described velocity control assemblies 1 comprises a clutch mechanism leg 13 further, and described clutch mechanism leg 13 is towards acting on clutch pedal.The described high-performance autonomous driving robot of the test car for being applied to manual gear described herein, but the professional in field of the present invention should be understood that, described high-performance autonomous driving robot also can be applied to the test car of automatic catch, wherein it is worth mentioning that the separable connection of described velocity control assemblies 1, thus the structure of described high-performance autonomous driving robot also can be changed along with actual tests demand, will elaborate afterwards.

Described throttle pedipulator 11, described braking pedipulator 12 and described clutch mechanism leg 13 are respectively accordingly toward gas pedal, brake pedal and clutch pedal, it is worth mentioning that, described throttle pedipulator 11, described braking pedipulator 12 and described clutch mechanism leg 13 have identical structure.

Particularly, described throttle pedipulator 11 comprises accelerator drive unit 111 and a throttle telescopic unit 112, described braking pedipulator 12 comprises braking driver element 121 and a braking telescopic unit 122, described clutch mechanism leg 13 comprises clutch driving unit 131 and a clutch coupling telescopic unit 131, because the structure of every described pedipulator is all identical, be described in detail for described throttle pedipulator 11 at this.Described accelerator drive unit 111 is connected to throttle telescopic unit 112, described throttle telescopic unit 112 comprises pipe 1122 in a throttle pedipulator outer tube 1121 and a throttle pedipulator further, in wherein said throttle pedipulator, pipe 1122 is built in described throttle pedipulator outer tube 1121, and in described throttle pedipulator, the length of pipe 1122 is longer than described throttle pedipulator outer tube 1121.In described throttle pedipulator, pipe 1122 is connected to described accelerator drive unit 111, and described throttle pedipulator outer tube 1121 is connected to the drive shell of described accelerator drive unit 111.In described throttle pedipulator, pipe 1122 carries out the rectilinear motion of front and back under the driving effect of described accelerator drive unit 111, namely in described throttle pedipulator, pipe 1122 carries out flexible rectilinear motion relative to described pedipulator outer tube 1121, thus changes the acting force degree of depth of pipe 1122 pairs of gas pedals in described throttle pedipulator.One pedipulator effect end 113 extends pipe 1122 in described throttle pedipulator, described pedipulator effect end 113 is made up of rubber, its quality is identical with the quality of pedal, described pedipulator effect end 113 contact action is in pedal, thus serve certain skid resistance, ensure that the operating accuracy of described pedipulator.It is worth mentioning that, described pedipulator effect end 113 comprises effect end connecting portion 1131 and an effect end 1132, wherein said effect end connecting portion 1131 is laterally connected to pipe 1122 in described throttle pedipulator, described effect end 1132 longitudinally extends described effect end connecting portion 1131, thus making described effect end 1132 be parallel to pipe 1122 in described throttle pedipulator, described effect end 1132 is made up of rubber.Described effect end connecting portion 1131 is connected to pipe 1122 in described throttle pedipulator rotationally, thus rotates described pedipulator effect end 113, can change the present position of described effect end 1132.When in described pedipulator, pipe present position deviates from described pedal, make pipe in described pedipulator cannot directly act on described pedal, by adjusting described pedipulator effect end 113, can make described effect end 1132 can contact action in described pedal, thus make described high-performance autonomous driving robot have better adaptability to dissimilar described test car.

As shown in Figure 7, described high-performance autonomous driving robot comprises a connection pedestal 5 further, described velocity control assemblies 1, described gear Control Component 2 and described bearing circle Control Component 3 are removably connected to described connection pedestal 5 respectively, when described high-performance autonomous driving robot is applied to automobile test, described connection pedestal 5 is fixed in a seat 94 of test car.

It is worth mentioning that, described connection pedestal 5 comprises one first face plate of foundation 51 and one second face plate of foundation 52, wherein said second face plate of foundation 52 upwards extends the rear part edge of described first face plate of foundation 51, described first face plate of foundation 51 and described second face plate of foundation 52 define the form defining a similar seat, when described high-performance autonomous driving robot is installed in described test car, described connection pedestal 5 is fixed in the automotive seat 94 of described test car, wherein said first face plate of foundation 51 contact action is in the seat cushion of described automotive seat 94, described second face plate of foundation 52 contact action is in the chair back of described automotive seat 94.A pair first web members 53 respectively on extend described first face plate of foundation 51, and the first web member 53 described in two is mutually corresponding.A pair second web members 54 are respectively to front extending described second face plate of foundation 54, and the second web member 54 described in two is mutually corresponding.A pair the 3rd web members 55 are respectively to the front portion above extending described first face plate of foundation 51, and described velocity control assemblies 1 is removably connected to described connection pedestal 5 via described 3rd web member 55.Described gear Control Component 2 is removably connected to described connection pedestal 5 via described first web member 53 and described second web member 54, and described bearing circle Control Component 3 is removably connected to described gear Control Component 2.

Particularly, described 3rd web member 55 comprises connection substrate 551 and a hook-type latch segment 552, wherein said connection substrate 551 upwards extends the front portion of described first face plate of foundation 51, described hook-type latch segment 552 is connected to described connection substrate 551 rotationally, described hook-type latch segment 552 and described connection substrate 551 define formation one connecting link connection chamber 550, one connecting link 56 is arranged between described 3rd web member 55, described connecting link 56 has a pair connecting link connecting end portion 561, described connecting link connecting end portion 561 is placed in described connecting link connection chamber 550, described connecting link 56 is made removably to be connected to described connection pedestal 5 with this.Described velocity control assemblies 1 is connected to described connection pedestal 5 via described connecting link 56, it is worth mentioning that, the xsect of described connecting link connecting end portion 561 is polygon, and the cavity geometry of described connecting link connection chamber 550 matches in the shape of described connecting link connecting end portion 561.The polygonal shape of described connecting link connecting end portion 561 thus effectively prevent the rotation of described connecting link 56, effectively prevent described connecting link 56 and rotates and affect the operating accuracy of described velocity control assemblies 1.

Described hook-type latch segment 552 is connected to described connection substrate 551 rotationally, acting force is upwards imposed to described hook-type latch segment 552, described hook-type latch segment 552 upwards rotates, described connecting link connection chamber 550 will be in open state, the described connecting link connecting end portion 561 of described connecting link 56 is pressed and enters in described connecting link connection chamber 550 under the effect of external force, and described hook-type latch segment 552 is rotated, the opening of described connecting link connection chamber 550 is closed, in other words, described connecting link 56 by snap close in described 3rd web member 55.It is worth mentioning that, when wanting the connecting link 56 be connected with described velocity control assemblies 1 to be separated with described connection pedestal 5, only need to rotate described hook-type latch segment 552, the opening of described connecting link connection chamber 550 is opened, can be isolated.It is worth mentioning that again, the polygonized structure of described connecting link connecting end portion 561 makes described connecting link 56 be merely able to be connected to described connection pedestal 5 with same position, in other words, when described connecting link 56 is connected to described connection pedestal 5 again, described velocity control assemblies 1 towards remaining unchanged, user need not spend the unnecessary time to remove to adjust the placement location of described connecting link 56.

As shown in Figure 6, one group of pedipulator fixation kit 7 is arranged at every described pedipulator 11,12,13, described connecting link 56 is through every described pedipulator fixation kit 7, and every described pedipulator fixation kit 7 fixes corresponding described pedipulator 11,12 simultaneously, 13, make described velocity control assemblies 1 be connected to described connection pedestal 5 with this.

Particularly, described pedipulator fixation kit 7 is a transverse and longitudinal formula structure, described pedipulator fixation kit has horizontal stationary pipes 71 and a longitudinal stationary pipes 72, wherein said longitudinal stationary pipes 72 upwards extends described horizontal stationary pipes 71, described connecting link 56 is through described horizontal stationary pipes 71, described longitudinal stationary pipes 72 is made up of the identical symmetrical two arc fixed panels of structure, described in two, arc fixed panel connects via screw, thus make described pedipulator 11, 12, 13 are fastened onto described longitudinal stationary pipes 72, by rotating its gib screw, described longitudinal stationary pipes 72 can be made to be in non-tightening state, thus change described pedipulator 11, 12, the fixed position of 13.Can by described pedipulator 11,12,13 is mobile in described longitudinal stationary pipes 72, thus change described pedipulator 11,12, the distance of 13 to pedal, distance between the pedal of dissimilar test car and seat 94 there are differences, and in order to make described high-performance autonomous driving robot can be applicable to the automobile of any type, the folding by described longitudinal stationary pipes 72 regulates described pedipulator 11, the effective interaction length of 12,13.Distance between this effective interaction length refers to from described connecting link 56 to described pedipulator effect end 113.Wherein when described pedipulator 11,12,13 through described longitudinal stationary pipes 72 time, the caliber of described longitudinal stationary pipes 72 matches in the caliber of described pedipulator outer tube, therefore the change of the effective interaction length of described pedipulator 11,12,13 can not have influence on the flexible situation of pipe in described pedipulator.

In order to improve the adaptability of described high-performance autonomous driving robot for dissimilar test car, described actuator positions adjusting module 6 comprises one group of pedipulator position adjustment part 61, every described pedipulator position adjustment part 61 is connected to the lower surface of every described horizontal stationary pipes 71, wherein said pedipulator 11,12, the effective interaction length of 13 adjusts by described longitudinal stationary pipes 72, and described pedipulator position adjustment part 61 is for adjusting described pedipulator 11, the angle of inclination of 12,13.Described pedipulator position adjustment part 61 comprises adjustment part force end 611 and an adjustment part forced section 612, wherein said adjustment part forced section 612 is while connection described adjustment part force end 611, be connected to again described horizontal stationary pipes 71, described adjustment part forced section 612 is forced in by described adjustment part force end 611, described adjustment part forced section 612 is moved, thus drive the movement of connected described pedipulator fixation kit 7, described pedipulator 11 is changed with this, the angle of inclination of 12,13.

Particularly, described adjustment part force end 611 has a long fixed pin 6111, one short fixed pin 6112 and a connecting rod 6113, described short fixed pin 6112 is positioned at the back lower place of described long fixed pin 6111, and described connecting rod 6113 extends to described short fixed pin 6112 via described long fixed pin 6111.Described adjustment part forced section 612 comprises fixing fork arm 6121 and a flexible fork arm 6122, wherein said fixing fork arm 6121 is fixed in described horizontal stationary pipes 71, described flexible fork arm 6122 is through described fixing fork arm 6121, described long fixed pin 6111 is through the end of described fixing fork arm 6121, described short fixed pin 6112, through the end of described flexible fork arm 6122, makes described adjustment part forced section 612 be connected to described adjustment part force end 611 with this.Described flexible fork arm 6122 has scalability, and described adjustment part force end 611 comprises a pull bar 6114 further, by pulling the rotatable described pedipulator fixation kit 7 of described pull bar 6114, thus changes described pedipulator 11,12, the angle of inclination of 13.

Particularly, described longitudinal stationary pipes 72 extends described horizontal stationary pipes 71, therefore described pedipulator 11, the angle of inclination of 12,13 determined by described horizontal stationary pipes 71, rotates described horizontal stationary pipes 71 and can change described pedipulator 11,12, the angle of inclination of 13, conveniently and rotate described horizontal stationary pipes 71 effortlessly, described high-performance autonomous driving robot provides described pedipulator position adjustment part 61.When described pedipulator fixation kit 7 turns to certain angle, described flexible fork arm 6122 meeting contact action is to described first face plate of foundation 51, described flexible fork arm 6122 has scalable performance, can be expanded the rotational angle of described pedipulator fixation kit 7 by the contraction of the body of rod.

Described gear Control Component 2 comprises gear shifting manipulator 21 and a gearshift driver element 22, described gear shifting manipulator 21 is connected to the described shifting element 92 of described test car, described gearshift driver element 22 comprises an X to driver element 222 and a Y-direction driver element 221, described X drives described gear shifting manipulator 21 along X to carrying out the rectilinear motion come and gone to driver element 222, described Y-direction driver element 221 drive described gear shifting manipulator 21 along Y-direction carry out come and go rectilinear motion, described X to driver element 222 and described Y-direction driver element 221 separate.Described mechanical arm 21 thus act on gear shift lever, makes gear shift lever make the conversion of gear.

Described gear Control Component 2 comprises a housing 4 further, described housing 4 is connected to described connection pedestal 5 via described first web member 53 and described second web member 54, described X is arranged at described housing 4 to driver element 222, described Y-direction driver element 221 is connected to described gear shifting manipulator 21, one mechanical arm fixation kit 8 is arranged at described gear Control Component 2, and described gear shifting manipulator 21 is removably connected to described X to driver element 222 by described mechanical arm fixation kit 8.It is worth mentioning that, described housing 4 additionally provides the Power Supply Assembly of described high-performance autonomous driving robot.

As shown in Fig. 8 to Figure 10 B, described mechanical arm fixation kit 8 comprises mechanical arm first fixture 81 and mechanical arm second fixture 82, described mechanical arm first fixture 81 has a mechanical arm pickup groove 810, described gear shifting manipulator 21 is fixed in described mechanical arm pickup groove 810, described mechanical arm first fixture 81 has the coupling shaft connection chamber 811 of a transverse direction, the coupling shaft 821 of one transverse direction extends described mechanical arm second fixture 82, described coupling shaft 821 is through described coupling shaft connection chamber 811, thus make described mechanical arm first fixture 81 be connected to described mechanical arm second fixture 82 separably.The outlet of described coupling shaft connection chamber 811 is provided with elastic locking portion 812 and a fixed handle 813, described fixed handle 813 extends described elastic locking portion 812, by rotating described fixed handle 813, make described mechanical arm first fixture 81 securely be connected to described mechanical arm second fixture 82, make described gear shifting manipulator 21 be fastened onto described mechanical arm pickup groove 810 simultaneously.

Described gear shifting manipulator 21 comprises pipe 212 in a mechanical arm outer tube 211 and a mechanical arm, in described mechanical arm, pipe 212 is built in described mechanical arm outer tube 211 movably, the housing of described Y-direction driver element 221 extends the lower surface of described mechanical arm outer tube 211, in described mechanical arm, pipe 212 is connected to described Y-direction driver element 222, described Y-direction driver element 222 drives pipe 212 in described mechanical arm to carry out the rectilinear motion come and gone along Y-direction, one drive link 223 extends to described mechanical arm fixation kit 8 via described X to driver element 222, described X drives described drive link 223 along X to carrying out the rectilinear motion come and gone to driver element 222, thus the X realizing described gear shifting manipulator 21 to movement, thus drive the motion of described gear shift lever.

The Y-direction of described Y-direction driver element 221 refers to the bearing of trend residing for described gear shifting manipulator 21, described Y-direction driver element 221 is arranged at the below of described gear shifting manipulator 21, when described gear shifting manipulator 21 is fixed in described mechanical arm the first fixture 81, described Y-direction driver element 221 is side by side also fixed in described mechanical arm first fixture 81.Described X moves to driver element 222 along the X direction for driving described gear shifting manipulator 21, thus realizes the gear selecting of described gear shift lever.Wherein X is to referring to direction residing for described connecting link 56.

When pipe 212 in described mechanical arm is subject to the driving of described Y-direction driver element 221, in described mechanical arm, pipe 212 carries gear shift lever performs Y-direction advance or backward movement with the instruction of pre-set programs, thus completes gearshift behavior.When described gear shifting manipulator 21 performs gear shifting action, described mechanical arm outer tube 211 vis-a-vis described mechanical arm first fixture 81 keeps transfixion state, and in described mechanical arm pipe 212 vis-a-vis described mechanical arm outer tube 211 carry out the rectilinear motion that Y-direction comes and goes.

Described gear Control Component 2 comprises a gear retaining piece 23 further, described gear retaining piece 23 is connected to the end of pipe 212 in described mechanical arm separably, described gear retaining piece 23 has a fixing chamber 230, the gear shift head of the shifting element 92 of test car is placed on described fixing chamber 230, thus described gear shifting manipulator 21 is located in shifting element 92.Described gear retaining piece 230 is connected to pipe 212 in described mechanical arm separably, described gear retaining piece 230 has Multiple Type, selection assembling can be carried out according to the virtual condition of test car, thus the gear shift lever of dissimilar test car can be operated, i.e. the shifting element 92 of test car.

It is worth mentioning that, by rotating described fixed handle 813, described mechanical arm pickup groove 810 can be made to be in locking state, thus make described gear shifting manipulator 21 and described Y-direction driver element 221 be connected to described mechanical arm first fixture 81 fastenedly.Described mechanical arm first fixture 81 also provides position of manipulator adjustment function, by rotating described fixed handle 813, described mechanical arm pickup groove 810 is made to be in deployed condition, thus described gear shifting manipulator 21 can be moved along Y-direction, make described gear retaining piece 23 can be positioned at applicable position, thus make dissimilar described test car faced by described high-performance autonomous driving robot have better adaptability.

Described actuator positions adjusting module 6 comprises a position of manipulator adjusting lever 62 further, described position of manipulator adjusting lever 62 upwards extends the end of described drive link 223, described mechanical arm second fixture 82 has the adjusting lever holding tank 822 of a longitudinal direction, described position of manipulator adjusting lever 62 is fixed on described adjusting lever holding tank 822 separably, thus can change the clip position of described mechanical arm fixation kit 8 to described position of manipulator adjusting lever 62.

Described mechanical arm second fixture 82 comprises tight lock part 823 and an adjustment handle 824 further, wherein said tight lock part 823 is arranged at the opening of described adjusting lever holding tank 822, described adjustment handle 824 is connected to described tight lock part 823, described tight lock part 823 can be made to be in locking state by rotating described adjustment handle 824, thus make adjusting lever holding tank 822 securely clamp described position of manipulator adjusting lever 62, namely prevent described mechanical arm fixation kit 8 from gliding along described position of manipulator adjusting lever 62, thus avoid the operation affecting described high-performance autonomous driving robot.

By rotating described adjustment handle 824, make described adjusting lever holding tank 822 be in non-locking state, thus solid 62 locking member 82 of described mechanical arm second can be moved along described position of manipulator adjusting lever 62, thus change the height of described gear shifting manipulator 21.It is worth mentioning that, the shape of cross section of described position of manipulator adjusting lever is polygon, the cell body xsect of described adjusting lever holding tank 822 is the polygonal shape coordinated with it, when each portion structure of described high-performance autonomous driving robot is combined, user need not spend the unnecessary time to adjust the parastate of described mechanical arm fixation kit 8, namely described mechanical arm fixation kit 8 can just be parallel to described drive link 223 easily, thus improve the accuracy of assembling, make described gear shifting manipulator 21 to be in Y-direction.When described X drives described drive link 223 along X to carrying out rectilinear motion to driver element 222, described drive link 223 connected described mechanical arm fixation kit 8 is carried out simultaneously X to rectilinear motion, the X namely realizing described gear shifting manipulator 21 to motion.

It is worth mentioning that, described mechanical arm second fixture 82 and described mechanical arm first fixture 81 there is smooth binding face respectively, thus after making described mechanical arm first fixture 81 be connected to described mechanical arm second fixture 82, described mechanical arm pickup groove 810 can be positioned at Y-direction.The binding face of described mechanical arm first fixture 81 and described mechanical arm second fixture 82 has one group of tooth cooperatively interacted 815 respectively, 825, when described mechanical arm first fixture 81 is connected to described mechanical arm the second fixture 82 via described coupling shaft 821, described tooth 815,825 engage each other, thus make described mechanical arm pickup groove 810 can be positioned Y-direction accurately, when described mechanical arm first fixture 81 favours described mechanical arm the second fixture 82 to some extent, user just can find soon and adjust.

As is illustrated by figs. 11 and 12, described bearing circle Control Component 3 comprises bearing circle clamping part 31 and a rotating of steering wheel assembly 32, wherein said bearing circle clamping part 31 is for the wheel rim of the bearing circle 91 of clamp assay automobile, described rotating of steering wheel assembly 32 comprises a runing rest 321, one power part 322, one rotating part 323 and a location division 324, wherein said rotating part 323 extends to described runing rest 321 by described power part 322, described location division 324 is arranged at described rotating part 323, described bearing circle clamping part 31 is connected to described runing rest 321 separably, described first support bar 631 is connected to described location division 324, described power part 322 drives described rotating part 323 to rotate, thus drive the rotation of described runing rest 321 and described bearing circle clamping part 31, the bearing circle 91 of test car is rotated.

Particularly, described runing rest 32 extends three supports 3211 equably from rotation center to surrounding, wherein presents identical angle between every described support 3211.Accordingly, described bearing circle Control Component 3 comprises bearing circle clamping part 31 described in three, every described bearing circle clamping part 31 extends corresponding described support 3211 respectively, thus make described bearing circle can be subject to the holding force of described bearing circle clamping part 31 equably, and then when described bearing circle Control Component 3 rotates, described bearing circle can obtain stable and uniform rotating force, thus improves the operating accuracy of described high-performance autonomous driving robot.

Described bearing circle clamping part 31 comprises adjusting portion 311 and a fixed part 312, wherein said fixed part 312 is connected to described runing rest 321, described adjusting portion 311 is rotatably connected to described fixed part 312, distance between described adjusting portion 311 and described fixed part 312 can be changed by rotating described adjusting portion 311, one retaining ring 313 is arranged at described adjusting portion 311, and described adjusting portion 311 is for the wheel rim of the bearing circle 91 of clamp assay automobile.Described retaining ring 313 has the locking face of an annular, described locking face defines formation one lock chambers, and side by side, described retaining ring 313 has a lock opening, steering wheel rim enters described lock chambers via described lock opening, thus is locked by described retaining ring 313.

Described fixed part 312 has a fixed part connection chamber 3121, described fixed part connection chamber 3121 is toward described runing rest 321, and the cavity size of described fixed part connection chamber 3121 matches in the shape of the described support 3211 of described runing rest 321, when described fixed part 312 is connected to described runing rest 321, the end of described support 3211 is placed in described fixed part connection chamber 3121.The end of every described support 3211 has one group of connecting hole 3212 respectively, correspondingly, the cavity panel of the described fixed part connection chamber 3121 of every described fixed part 312 has one group of fixed part connecting hole 3122, wherein said fixed part connecting hole 3122 is toward corresponding described connecting hole 3212, thus make described fixed part 312 screw be connected to described runing rest 321, wherein one group of screw is simultaneously through described connecting hole 3212 and described fixed part connecting hole 3122.

One group of extension rod 314 is arranged between described adjusting portion 311 and described fixed part 312, and in other words, described adjusting portion 311 extends described fixed part 312 via described extension rod 314, and the selectable number of described extension rod 314 is selected as three.Described fixed part 312 has three extension rod connection chambers 3123, every described extension rod connection chamber 3123 difference UNICOM is in former and later two end faces of described fixed part 312, the distance that every described extension rod connection chamber 3123 interval is identical, the bar footpath of described extension rod 314 is matched in the cavity of described extension rod connection chamber 3123, described extension rod 314 extends to described fixed part 312 via described adjusting portion 311, and described extension rod 314 is placed in described extension rod connection chamber 3123.It is worth mentioning that, described extension rod 314 and described extension rod connection chamber 3123 have corresponding screw thread respectively, and therefore described adjusting portion 311 is threadedly connected to described fixed part 312 via described extension rod 314.Wherein every described support 3211 comprises two stands plate respectively, the distance that described in two, supporting plate block gap is certain, define formation one scalloped channels 3213, when described fixed part 312 is connected to described support 3211, wherein a described extension rod 314 enters in described scalloped channels 3213.By adjusting the length of described extension rod 314 in described extension rod connection chamber 3123, the present position of described retaining ring 313 can be changed, when the type of test car is different, the size of bearing circle 91 is also different, described bearing circle clamping part 31, by the adjustment of described extension rod 314, can make described high-performance autonomous driving robot can be adapted to dissimilar test car.

Described actuator positions adjusting module 6 comprises a runing rest position adjustment part 63 further, described runing rest position adjustment part 63 extends to described bearing circle Control Component 3 via described housing 4, described housing 4 has a case connect link 41 and is connected panel 42 with one, described case connect link 41 is laterally arranged at the top of described housing 4, namely described case connect link 41 is parallel to described housing 4, described connection panel 42 is connected to the middle part of described case connect link 41, and described connection panel 42 is inclined upwardly in described case connect link 41.Described runing rest position adjustment part 61 respectively connected described bearing circle Control Component 3 and described connection panel 42, changes the position of described bearing circle Control Component 3 with this.

Particularly, described runing rest position adjustment part 63 comprises one first support bar 631, one second support bar 632 and regulates connecting portion 633, wherein said second support bar 632 extends described housing 4, described first support bar 631 is connected to described second support bar 632 rotationally via described adjustment connecting portion 633, described first support bar 632 is connected to described bearing circle Control Component 3 simultaneously, one adjusting handle 634 is arranged at described adjustment connecting portion 633, by rotating described adjusting handle 634 rotatably described first support bar 631, thus change the angle of inclination of described bearing circle Control Component 2.

It is worth mentioning that, wherein said second support bar 632 is fixedly connected to described connection panel 42, by the first support bar 631 described in the effect adjustable of described adjustment connecting portion 633 relative to the length of described second support bar 632 and angle of inclination.When described adjustment connecting portion 633 is unlocked, user can adjust described first support bar 631 according to actual needs, after determining to want suitable length and angle of inclination, screwing described adjusting handle 634 can make described adjustment connecting portion 633 be in locking state, and namely described first support bar 631 can be connected to described second support bar 632 with fixing position form.Thus with the bearing circle 91 of the test car being adapted to differing heights.

Wherein said rotating part 323 comprises rotating shaft 3231 and a gear 3232, wherein said rotating shaft 3231 extends to described runing rest 321 by described power part 322, the center of described runing rest 321 has a gear placing chamber 3210, and the described gear 3232 of described rotating part 323 is installed in described gear placing chamber 3210.Described location division comprises a support corner seat 3241, described support corner seat 3241 has the positioning chamber of a longitudinal direction, described rotating shaft 3231 via described positioning chamber through described support corner seat 3241, thus make described support corner seat 3241 be connected to described rotating shaft 3231 rotationally, and be positioned at the top of described gear 3232.

A pair support and connection portion 3242 extends the left and right sides of described support corner seat 3241 respectively, described first support bar 631 has a connecting end portion 6311, described connecting end portion 6311 is toward described support corner seat 3241, described connecting end portion 6311 connection function, in described support and connection portion 3242, makes described bearing circle Control Component 3 be connected to described housing 4 with this.Described power part 322 provides power according to the instruction of program, thus drives described rotating part 323 to rotate, and the described gear 3232 of described rotating part 323 has driven the motion of described runing rest 321, thus imposes corresponding action to described bearing circle 91.Described rotating part 323 is in the process rotated, and because described location division 324 is connected to described rotary support position adjustment part 63, described location division 324 keeps motionless in this process, and namely described rotating part 323 moves relative to described location division 324.

Described throttle pedipulator 11, described braking pedipulator 12 and described clutch mechanism leg 13 are the executive component of the pedal of test car, and every described pedipulator 11,12,13 control corresponding pedal respectively accordingly.Described gear shifting manipulator 21 is the executive component of the described shifting element 92 controlling described test car.Every described executive component all has corresponding described driver element, wherein said pedipulator driver element 111,121,131 are connected to corresponding pedipulator 11,12,13, thus the rectilinear motion driving described pedipulator 11,12,13 to realize along direction residing for the described pedipulator body of rod.

The described driver element of described gear shifting manipulator 21 is made up of to driver element 222 described Y-direction driver element 221 and described X, wherein said X is arranged at described housing 4 to driver element 222, described X is connected to described mechanical arm fixation kit 8 to driver element 222 via described drive link 223, described X to driver element 222 drive described drive link 223 realize X to rectilinear movement, thus make connected described mechanical arm fixation kit 8 and described gear shifting manipulator 21 realize synchronous X to rectilinear movement, make the shifting element 92 of test car realize gear selecting.Described Y-direction driver element 221 is connected to described gear shifting manipulator 21, thus drives described gear shifting manipulator 21 to realize the movement of Y-direction, makes the shifting element 92 of test car realize gearshift.

The rotation of described rotating of steering wheel assembly 32 is by described bearing circle drive unit drives, and described bearing circle driver element is arranged at described power part 322.

Described information feedback module is arranged at described driver module, described information feedback module comprises a series of described sensing element, described sensing element is used to speed and the displacement of monitoring described driver module, the drive form of what described driver element adopted is servomotor, thus improving the accuracy of described executive component, described information feedback module and described driver module are connected to described control module.After the speed monitoring described pedipulator driver module when the described sensing element of described information feedback module and displacement, monitoring information is fed back to described control module by described information feedback module, robot drives module described in described control module instruction runs the switching carrying out gear, thus realizes the speed of described test car and coordinating of gear.

Described control module comprises a program compiler preset, described pre-set programs decides each action of described executive component, the different motion speed scope of test car correspond to different gears, and therefore when after the movement velocity that test car reaches different, shifting element 92 need perform gearshift.In other words, the operation between each described driver module of described high-performance autonomous driving robot need cooperatively interact, and is wherein realized the regulation and control of each described driver module by the described pre-set programs of described control module.

Described pedipulator 11,12,13 realize pressing down of the pedal of test car by rectilinear motion and reclaim, thus change the travelling speed of test car, wherein the Influence of Displacement that presses down of pedal travelling speed, i.e. described pedipulator 11,12, the displacement of 13 represents corresponding speed, and this is all arranged in the described program compiler of described control module.

Described high-performance autonomous driving robot also comprises a teach box, and the described pre-set programs of described control module compiles according to teaching activity, makes described high-performance autonomous driving robot have memory capability.Before the work of described high-performance autonomous driving robot, user carries out teaching activity by described teach box to described high-performance autonomous driving robot, described autonomous driving robot is made to have memory capability by human-machine operation, when the Power Supply Assembly experience of described high-performance autonomous driving robot is interrupted and after restarting, do not need again to debug, execution record before is all recorded in described teach box.

It is worth mentioning that, high-performance autonomous driving robot of the present invention also comprises an Anti-interference Design, wherein add power circuit wave filter at the power lead leading-in end of Inspection and monitoring system, suppress the noise of power supply, On-off signal output channel increases photoisolator to remove the impact of on-the-spot interference on described control system.

One skilled in the art will understand that the embodiments of the invention shown in foregoing description and accompanying drawing only limit the present invention as an example and not.Object of the present invention is complete and effectively realize.Function of the present invention and structural principle are shown in an embodiment and are illustrated, do not deviating under described principle, embodiments of the present invention can have any distortion or amendment.

Claims (24)

1., for a high-performance autonomous driving robot for automobile test, it is characterized in that, comprise

One control module, described control module has a program compiler preset, and described high-performance autonomous driving robot performs relevant action according to described pre-set programs;

One information feedback module, described information feedback module comprises a series of sensing element, and described sensing element gathers the action of described high-performance autonomous driving robot and is converted to and can feeds back to described control module by input signal; With

One driver module, described driver module comprises a series of driver element and a series of executive component, wherein said executive component has respective corresponding described driver element, one bearing circle of described executive component difference Control experiment automobile, one shifting element and a velocity control element, described in described drive unit drives, executive component realizes the rectilinear motion of preset direction, described information feedback module is arranged at described driver module, to monitor operation displacement and the speed of described driver module, described control module is run according to the corresponding described driver element of the feedback signal instruction of described information feedback module or is stopped.

2. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 1, is characterized in that, described driver element adopts the type of drive of servomotor.

3. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 1 or 2, it is characterized in that, the described executive component of the velocity control element of Control experiment automobile is one group of pedipulator, described pedipulator is under the driving of corresponding described driver element, instruction according to described control module performs rectilinear motion towards velocity control element, realize pressing down and reclaiming of velocity control element, thus the change speed of a motor vehicle, the different straight-line displacement amounts of every described pedipulator represent the corresponding different speed of a motor vehicle.

4., for a high-performance autonomous driving robot for automobile test, it is characterized in that, comprise

One control module, described control module has a program compiler preset, and described high-performance autonomous driving robot performs relevant action according to described pre-set programs;

One information feedback module, described information feedback module comprises a series of sensing element, and described sensing element gathers the action of described high-performance autonomous driving robot and is converted to and can feeds back to described control module by input signal;

One driver module, described driver module comprises a series of driver element and a series of executive component, wherein said executive component has respective corresponding described driver element, one bearing circle of every described executive component difference Control experiment automobile, one shifting element and a velocity control element, described in described drive unit drives, executive component realizes the rectilinear motion of preset direction, described information feedback module is arranged at described driver module, to monitor operation displacement and the speed of described driver module, described control module is run according to the corresponding described driver element of the feedback signal instruction of described information feedback module or is stopped, with

One actuator positions adjusting module, described executive component adjusting module is arranged at every described executive component respectively, operate the direction, present position that described executive component adjusting module changes every described executive component, when making described high-performance autonomous driving robot be applied to dissimilar use automobile, every described executive component can be positioned at suitable position to realize precise manipulation.

5. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 4, is characterized in that, described driver element adopts the type of drive of servomotor.

6. a kind of high-performance autonomous driving robot for automobile test as described in claim 4 or 5, it is characterized in that, described driver module is a velocity control assemblies, one gear Control Component and a bearing circle Control Component, the velocity control element of wherein said velocity control assemblies control operation test car, the shifting element of described gear Control Component control operation test car, the bearing circle of described bearing circle Control Component control operation test car.

7. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 6, it is characterized in that, described high-performance autonomous driving robot comprises a connection pedestal further, described velocity control assemblies, described gear Control Component and described bearing circle Control Component are removably connected to described connection pedestal respectively, when described high-performance autonomous driving robot is applied to automobile test, described connection pedestal is fixed in a seat of test car.

8. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 7, it is characterized in that, described connection pedestal comprises one first face plate of foundation and one second face plate of foundation, wherein said second face plate of foundation upwards extends the rear part edge of described first face plate of foundation, a pair first web members respectively on extend described first face plate of foundation, a pair second web members are respectively to front extending described second face plate of foundation, a pair the 3rd web members are respectively to the front portion above extending described first face plate of foundation, described velocity control assemblies is removably connected to described connection pedestal via described 3rd web member, described gear Control Component is removably connected to described connection pedestal via described first web member and described second web member, described bearing circle Control Component is removably connected to described gear Control Component.

9. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 8, it is characterized in that, described velocity control assemblies comprises one group of pedipulator and one group of pedipulator driver element, every described pedipulator driver element is arranged at the upper end of every described pedipulator, every described pedipulator comprises pipe in a pedipulator outer tube and a pedipulator, in wherein said pedipulator, pipe is built in described pedipulator outer tube movably, in described pedipulator, pipe is connected to described pedipulator driver element, in pedipulator described in described pedipulator drive unit drives, pipe realizes the rectilinear motion back and forth of preset direction, in described pedipulator, pipe acts on the velocity control element of test car, thus realize pressing down and reclaiming of velocity control element.

10. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 9, it is characterized in that, described 3rd web member comprises a connection substrate and a hook-type latch segment, wherein said connection substrate upwards extends the front portion of described first face plate of foundation, described hook-type latch segment is connected to described connection substrate rotationally, described hook-type latch segment and described connection substrate define formation one connecting link connection chamber, one connecting link is arranged between described 3rd web member, described connecting link has a pair connecting link connecting end portion, described connecting link connecting end portion is placed in described connecting link connection chamber, described connecting link is made removably to be connected to described connection pedestal with this, one group of pedipulator fixation kit is arranged at every described pedipulator, described connecting link is through every described pedipulator fixation kit, every described pedipulator fixation kit fixes corresponding described pedipulator simultaneously, described velocity control assemblies is made to be connected to described connection pedestal with this.

11. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 10, it is characterized in that, described pedipulator fixation kit has a horizontal stationary pipes and a longitudinal stationary pipes, wherein said longitudinal stationary pipes upwards extends described horizontal stationary pipes, described connecting link is through described horizontal stationary pipes, described longitudinal stationary pipes is made up of the identical symmetrical two arc fixed panels of structure, described in two, arc fixed panel connects via screw, thus make described pedipulator be fastened onto described longitudinal stationary pipes, by rotating its gib screw, described longitudinal stationary pipes can be made to be in non-tightening state, thus change the fixed position of described pedipulator.

12. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 10, it is characterized in that, the xsect of described connecting link connecting end portion is polygon, and the cavity geometry of described connecting link connection chamber matches in the shape of described connecting link connecting end portion.

13. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 11, it is characterized in that, the xsect of described connecting link connecting end portion is polygon, and the cavity geometry of described connecting link connection chamber matches in the shape of described connecting link connecting end portion.

14. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 13, it is characterized in that, described actuator positions adjusting module comprises one group of pedipulator position adjustment part, every described pedipulator position adjustment part is connected to the lower surface of every described horizontal stationary pipes, wherein said pedipulator position adjustment part comprises adjustment part force end and an adjustment part forced section, the stressed end of described adjustment part has a long fixed pin, one short fixed pin and a connecting rod, described short fixed pin is positioned at the back lower place of described long fixed pin, described connecting rod extends to described short fixed pin via described long fixed pin, described adjustment part forced section comprises a fixing fork arm and a flexible fork arm, wherein said fixing fork arm is fixed in described horizontal stationary pipes, described flexible fork arm is through described fixing fork arm, described long fixed pin is through the end of described fixing fork arm, described short fixed pin is through the end of described flexible fork arm, described adjustment part forced section is made to be connected to described adjustment part force end with this, described flexible fork arm has scalability, described adjustment part force end comprises a pull bar further, by pulling the rotatable described pedipulator fixation kit of described pull bar, thus change the angle of inclination of described pedipulator.

15. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 8, it is characterized in that, described gear Control Component comprises a gear shifting manipulator and a gearshift driver element, described gear shifting manipulator is connected to the shifting element of test car, described gearshift driver element comprises an X to driver element and a Y-direction driver element, described X is to gear shifting manipulator described in drive unit drives along X to carrying out the rectilinear motion come and gone, gear shifting manipulator described in described Y-direction drive unit drives carries out the rectilinear motion come and gone along Y-direction, described X to driver element and described Y-direction driver element separate.

16. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 14, it is characterized in that, described gear Control Component comprises a gear shifting manipulator and a gearshift driver element, described gear shifting manipulator is connected to the shifting element of test car, described gearshift driver element comprises an X to driver element and a Y-direction driver element, described X is to gear shifting manipulator described in drive unit drives along X to carrying out the rectilinear motion come and gone, gear shifting manipulator described in described Y-direction drive unit drives carries out the rectilinear motion come and gone along Y-direction, described X to driver element and described Y-direction driver element separate.

17. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 16, it is characterized in that, described gear Control Component comprises a housing further, described housing is connected to described connection pedestal via described first web member and described second web member, described X is arranged at described housing to driver element, described Y-direction driver element is connected to described gear shifting manipulator, one mechanical arm fixation kit is arranged at described gear Control Component, and described gear shifting manipulator is removably connected to described X to driver element by described mechanical arm fixation kit.

18. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 17, it is characterized in that, described gear shifting manipulator comprises pipe in a mechanical arm outer tube and a mechanical arm, in described mechanical arm, pipe is built in described mechanical arm outer tube movably, the housing of described Y-direction driver element extends the lower surface of described mechanical arm outer tube, in described mechanical arm, pipe is connected to described Y-direction driver element, in mechanical arm described in described Y-direction drive unit drives, the rectilinear motion come and gone carried out by pipe along Y-direction, one drive link extends to described mechanical arm fixation kit via described X to driver element, described X is to drive link described in drive unit drives along X to carrying out the rectilinear motion come and gone, thus the X realizing described gear shifting manipulator to movement.

19. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 18, it is characterized in that, described mechanical arm fixation kit comprises mechanical arm first fixture and mechanical arm second fixture, described mechanical arm first fixture has a mechanical arm pickup groove, described gear shifting manipulator is fixed in described mechanical arm pickup groove, described mechanical arm first fixture has the coupling shaft connection chamber of a transverse direction, the coupling shaft of one transverse direction extends described mechanical arm second fixture, described coupling shaft is through described coupling shaft connection chamber, thus make described mechanical arm first fixture be connected to described mechanical arm second fixture separably, the outlet of described coupling shaft connection chamber is provided with an elastic locking portion and a fixed handle, described fixed handle extends described elastic locking portion, by rotating described fixed handle, described mechanical arm first fixture is made securely to be connected to described mechanical arm second fixture, make described gear shifting manipulator be fastened onto described mechanical arm pickup groove simultaneously,

Described actuator positions adjusting module comprises a position of manipulator adjusting lever further, described position of manipulator adjusting lever upwards extends the end of described drive link, described mechanical arm second fixture has the adjusting lever holding tank of a longitudinal direction, described position of manipulator adjusting lever is fixed on described adjusting lever holding tank separably, thus can change the clip position of described mechanical arm fixation kit to described position of manipulator adjusting lever.

20. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 18, it is characterized in that, described gear Control Component comprises a gear retaining piece further, described gear retaining piece is connected to the end of pipe in described mechanical arm separably, described gear retaining piece has a fixing chamber, and a gear shift head of the shifting element of test car is placed on described fixing chamber.

21. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 17, it is characterized in that, described actuator positions adjusting module comprises a runing rest position adjustment part further, described runing rest position adjustment part extends to described bearing circle Control Component via described housing, described runing rest position adjustment part comprises one first support bar, one second support bar and one regulates connecting portion, wherein said second support bar extends described housing, described first support bar is connected to described second support bar rotationally via described adjustment connecting portion, described first support bar is connected to described bearing circle Control Component simultaneously, one adjusting handle is arranged at described adjustment connecting portion, by rotating described adjusting handle rotatably described first support bar, thus change the angle of inclination of described bearing circle Control Component.

22. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 20, it is characterized in that, described actuator positions adjusting module comprises a runing rest position adjustment part further, described runing rest position adjustment part extends to described bearing circle Control Component via described housing, described runing rest position adjustment part comprises one first support bar, one second support bar and one regulates connecting portion, wherein said second support bar extends described housing, described first support bar is connected to described second support bar rotationally via described adjustment connecting portion, described first support bar is connected to described bearing circle Control Component simultaneously, one adjusting handle is arranged at described adjustment connecting portion, by rotating described adjusting handle rotatably described first support bar, thus change the angle of inclination of described bearing circle Control Component.

23. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 22, it is characterized in that, described bearing circle Control Component comprises a bearing circle clamping part and a rotating of steering wheel assembly, wherein said bearing circle clamping part is used for the wheel rim of the bearing circle of clamp assay automobile, described rotating of steering wheel assembly comprises a runing rest, one power part, one rotating part and a location division, wherein said rotating part extends to described runing rest by described power part, described location division is arranged at described rotating part, described bearing circle clamping part is connected to described runing rest separably, described first support bar is connected to described location division, described power part drives described rotating part to rotate, thus drive the rotation of described runing rest and described bearing circle clamping part, the bearing circle of test car is rotated.

24. a kind of high-performance autonomous driving robots for automobile test as claimed in claim 23, it is characterized in that, described bearing circle clamping part comprises an adjusting portion and a fixed part, wherein said fixed part is connected to described runing rest, described adjusting portion is rotatably connected to described fixed part, distance between described adjusting portion and described fixed part can be changed by rotating described adjusting portion, one retaining ring is arranged at described adjusting portion, and described adjusting portion is used for the wheel rim of the bearing circle of clamp assay automobile.