CN207423527U - A kind of experiment drive robot based on virtual instrument - Google Patents
A kind of experiment drive robot based on virtual instrument Download PDFInfo
- Publication number
- CN207423527U CN207423527U CN201721557960.3U CN201721557960U CN207423527U CN 207423527 U CN207423527 U CN 207423527U CN 201721557960 U CN201721557960 U CN 201721557960U CN 207423527 U CN207423527 U CN 207423527U
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- ball
- screw
- junction button
- stepper motor
- ball screw
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Abstract
The utility model discloses a kind of experiment drive robot based on virtual instrument, including stent, the first junction button, the second junction button, the first ball-screw, the second ball-screw, the first sleeve, second sleeve, the first stepper motor, the second stepper motor, controller, host computer and speed probe.First ball-screw includes the first ball nut, the first ball screw.Periphery on first ball screw has screw thread, and the first ball nut is set on the first ball screw.Second ball-screw includes the second ball nut, the second ball screw.Periphery on second ball screw has screw thread, and the second ball nut is set on the second ball screw.First junction button is mounted on accelerator pedal.One end of first ball screw is connected with the first junction button, and first set jacket casing is located on the first ball screw.The utility model can mitigate the labor intensity of testing crew, save testing expenses, improve control accuracy.
Description
Technical field
The utility model is related to car test techniqes fields more particularly to a kind of based on the experiment of virtual instrument driving machine
Device people.
Background technology
With the development of auto industry, the mankind are higher and higher to the performance requirement of automobile, it is necessary to by means of largely testing
Carry out Curve guide impeller.Numerous items in automobile test, since repeated strong, duration length, dangerous big, working environment are disliked
Bad, Xun Huan speed frequent changes, are more suitable for being operated by robot.Drive robot is in automobile test the mankind to be replaced to drive
Member carries out the industrial robot of driver behavior.The key technology of external drive robot is also in the secrecy stage, only few at present
The several developed countries of number possess this technology.It is strong that work of the automobile test for mitigating testing crew is carried out using drive robot
Degree saves testing expenses, improves test efficiency, eliminates the influence of human factor, and then it is important that automobile research and development progress is accelerated to have
Meaning.Need quickly and accurately to know the dynamic characteristics and speed characteristics of vehicle before automobile test.Passed through using computer
Drive robot is accurate to control speed come compared with actual vehicle speed manipulating for LABVIEW programmings, to determine the speed of car engine
Spend characteristic.
Utility model content
For the problem that traditional engine performance detection device is heavy, performance accuracy is not high, and the utility model passes through electricity
Brain programming comes acceleration-deceleration and braking to operate drive robot, is inputted by the speed that speed probe exports with computer
Speed is made comparisons, and speed is made to be maintained at the numerical value of setting, accurate control output speed, for detecting the speed characteristics of engine,
To determine the performance of engine.
The utility model proposes a kind of experiment drive robot based on virtual instrument, including stent, first connection
Button, the second junction button, the first ball-screw, the second ball-screw, the first sleeve, second sleeve, the first stepper motor, second step
Stepper motor, controller, host computer and speed probe；
First ball-screw includes the first ball nut, the first ball screw；Periphery on first ball screw has spiral shell
Line, the first ball nut are set on the first ball screw；
Second ball-screw includes the second ball nut, the second ball screw；Periphery on second ball screw has spiral shell
Line, the second ball nut are set on the second ball screw；
First junction button is mounted on accelerator pedal；One end of first ball screw is connected with the first junction button, first set
Jacket casing is located on the first ball screw, and the one end of the first sleeve away from the first junction button is connected with the first ball nut；First rolling
Pearl nut and the first stepper motor are sequentially connected；
Second junction button is mounted on brake pedal；One end of second ball screw is connected with the second junction button, second set
Jacket casing is located on the second ball screw, and the one end of second sleeve away from the second junction button is connected with the second ball nut；Second rolling
Pearl nut and the second stepper motor are sequentially connected；
Controller and the first stepper motor, the second stepper motor motor, upper mechatronics；Host computer and speed probe
Electrical connection.
Preferably, first shaft coupling and second shaft coupling are further included；One end of first shaft coupling is passed with the first stepper motor
Dynamic connection, the other end are connected with the first ball-screw-transmission；One end of second shaft coupling is sequentially connected with the second stepper motor, separately
One end is connected with the second ball-screw-transmission.
Preferably, supporting plate, installing plate and connecting rod are further included；Supporting plate is fixedly mounted on stent, installing plate and branch
Frame plate is pivotally connected；The first end of connecting rod is hinged with installing plate, and second end can be slidably mounted on supporting plate.
Preferably, the first stepper motor and the second stepper motor are installed on the installing plate.
Preferably, first junction button is hinged with the first ball screw；Second junction button and the second ball screw are cut with scissors
It connects.
Preferably, first junction button is equipped with baltimore groove, and the accelerator pedal is mounted in the baltimore groove.
Preferably, groove is set on second junction button, the brake pedal is mounted in the groove.
Preferably, virtual instrument is preinstalled in host computer, which inputs pwm control signal into controller.
The utility model proposes one kind be based on virtual instrument experiment drive robot, by PC control first
Stepper motor and the second stepper motor rotate, so as to control the elongation and shortening of the first ball-screw and the second ball-screw, into
And accelerator pedal and brake pedal are controlled.Meanwhile the velocity characteristic of engine is obtained by speed probe, and feed back
To host computer, ensure that actual vehicle speed matches with given speed.Oil is controlled to step motor control signal by virtual instrument
The size of door has the advantages that control is accurate, measurement is convenient, accurate.
Description of the drawings
Fig. 1 be the utility model proposes the structure top view based on virtual instrument experiment drive robot；
Fig. 2 be the utility model proposes the structural front view based on virtual instrument experiment drive robot；
Fig. 3 be the utility model proposes the structural side view based on virtual instrument experiment drive robot；
Fig. 4 be the utility model proposes the control structure schematic diagram based on virtual instrument experiment drive robot.
Specific embodiment
The utility model is described further below in conjunction with the accompanying drawings.
As Figure 1-Figure 2, Fig. 1 be the utility model proposes the structure based on virtual instrument experiment drive robot
Schematic diagram, Fig. 2 be Fig. 1 left view, Fig. 3 be Fig. 1 top view, Fig. 4 be the utility model proposes based on virtual instrument try
The control structure schematic diagram with drive robot is tested, including stent 1, the first junction button 2, the second junction button 3, the first ball-screw
4th, the second ball-screw 5, the first sleeve 6, second sleeve 7, the first stepper motor 8, the second stepper motor 9, controller, host computer
And speed probe.
First ball-screw 4 includes the first ball nut 41, the first ball screw 42.Periphery on first ball screw 42
With screw thread, the first ball nut 41 is set on the first ball screw 42.
Second ball-screw 5 includes the second ball nut 51, the second ball screw 52.Periphery on second ball screw 52
With screw thread, the second ball nut 51 is set on the second ball screw 52.
First junction button 2 is mounted on accelerator pedal.One end of first sleeve 6 is connected with the first junction button 2, second end
Two rapidss are connected with the first ball nut 41.The first end of first ball screw 42 is located in the first sleeve 6, second end and the first step
Stepper motor 8 is sequentially connected.When it is implemented, the inner wall of the first sleeve 6 is equipped with screw thread, and the screw thread can be with the first ball wire
Thread fitting on 42 periphery of bar；The inner wall of second sleeve 7 be equipped with screw thread, and the screw thread can with outside the second ball screw 52
Thread fitting on week.
Second junction button 3 is mounted on brake pedal.One end of second sleeve 7 is connected with the second junction button 3, second end with
Second ball nut 51 connects.The first end of second ball screw 52 is located in second sleeve 7, second end and the second stepper motor
9 are sequentially connected.First junction button 2 and the first ball screw 42 are hinged.Second junction button 3 is cut with scissors with the second ball screw 52
It connects.First junction button 2 is equipped with baltimore groove, and the accelerator pedal is mounted in the baltimore groove.Described second connects
Groove is set on buckle 3, the brake pedal is mounted in the groove.In this way, by the first junction button 2 and the second junction button
Baltimore groove on 3 is set, accelerator pedal can be arranged in the baltimore groove on the first junction button 2, brake pedal is arranged on second
In baltimore groove on junction button 3.In this way, it is connected between the first junction button 2 and accelerator pedal for face, the second junction button 3 and braking
It is connected between pedal for face, can ensure, in the first stepper motor 8, the rotation of the second stepper motor 9, can accurately control acceleration
Pedal or the distance of brake pedal movement.
Controller and the first stepper motor 8, the second stepper motor 9, upper mechatronics.Host computer and speed probe electricity
Connection.When it is implemented, being preinstalled with virtual instrument in host computer, which inputs pwm control signal into controller.More
Specifically, which is LabVIEW softwares.
In present embodiment, first shaft coupling 12 and second shaft coupling 13 are further included.One end of first shaft coupling 12 and the
One stepper motor 8 is sequentially connected, and the other end is sequentially connected with the first ball-screw 4.One end of second shaft coupling 13 and second step
Stepper motor 9 is sequentially connected, and the other end is sequentially connected with the second ball-screw 5.
In present embodiment, supporting plate 14, installing plate 11 and connecting rod 10 are further included.Supporting plate 14 is fixedly mounted on stent
On 1, installing plate 11 is pivotally connected with supporting plate 14.The first end of connecting rod 10 is hinged with installing plate 11, and second end can be slidably mounted at
On supporting plate 14.First stepper motor 8 and the second stepper motor 9 are installed on the installing plate 11.When it is implemented, also
Including clamping device, the clamping device is mounted on stent 1, for stent 1 to be fixed on driver seat.
When specifically used, virtual instrument used in the host computer in the present embodiment is LabVIEW softwares, in host computer
Control program is write in advance, specifically used step is as follows：
1. the automobile that will be detected is moved to designated position according to test requirements document, drive robot is arranged into be measured
On automobile, according to motor space position, the height and distance of drive robot are adjusted.
2. the first junction button 2 is mounted on accelerator pedal, the second junction button 3 is mounted on brake pedal, before adjusting
Distance afterwards.
It 3. connecting circuit, connects a controller on the motor of drive robot, controller is connected with host computer, connect
Power supply.
4. application computer controls various patterns, programmed good software is opened, is connected with serial ports with computer.
5. desired numerical value is inputted into computer and whether revolution counter numerical value is equal with the speed of host computer setting, by mistake
Difference differs, and carries out school zero.In this way, it can eliminate due to installing the error brought.
6. according to the different operating modes to be surveyed, tested.
7. experiment finishes, drive robot, closing control device are removed.
Speed probe is mounted on wheel one side, and host computer is manipulated by experimenter.It is by host computer that control signal is defeated
Go out to controller, controller exports corresponding control signal to the first stepper motor 8 and the second stepper motor 9.When needs add
When fast, the first stepper motor 8 drives the first ball screw 42 to rotate, and the first ball nut 41 is in the drive of the first ball screw 42
Lower forward movement, and press down accelerator pedal, accelerate vehicle.When needing to slow down, the first stepper motor 8 inverts, accelerator pedal
It resets, the second stepper motor 9 drives the second ball screw 52 to rotate, and the second ball nut 51 is in the drive of the second ball screw 52
Lower forward movement, and brake pedal is pushed, make vehicle deceleration.The value detected is fed back to controller by speed probe, control
The value is fed back to host computer by device, and control signal is adjusted according to the value, until detected value and the value of host computer setting
It is equal.If more than setting speed, host computer gives 9 one speed signals of the second stepper motor, and brake pedal reduces speed,
Simultaneously the first stepper motor 8 is controlled to invert, reduce throttle opening.If less than setting speed, continue to control the first stepper motor 8
It rotates, increases speed, so constantly detection, adjustment, so that speed is maintained in given speed, realize closed-loop control vehicle
Speed detects the performance of engine by drawing speed curves.
The structure, feature and effect of the utility model are described in detail based on the embodiments shown in the drawings, with
Upper described is only the preferred embodiment of the utility model, but the utility model is to limit practical range shown in drawing, it is every according to
Change that conception according to the utility model is made or the equivalent embodiment for being revised as equivalent variations, still without departing from specification and figure
When showing covered spirit, it should be within the protection scope of the present utility model.
Claims (8)
1. a kind of experiment drive robot based on virtual instrument, which is characterized in that including stent（1）, the first junction button
（2）, the second junction button（3）, the first ball-screw（4）, the second ball-screw（5）, the first sleeve（6）, second sleeve（7）,
One stepper motor（8）, the second stepper motor（9）, controller, host computer and speed probe；
First ball-screw（4）Including the first ball nut（41）, the first ball screw（42）；First ball screw（42）On
Periphery has screw thread, the first ball nut（41）It is set in the first ball screw（42）On；
Second ball-screw（5）Including the second ball nut（51）, the second ball screw（52）；Second ball screw（52）On
Periphery has screw thread, the second ball nut（51）It is set in the second ball screw（52）On；
First junction button（2）On accelerator pedal；First ball screw（42）One end and the first junction button（2）Connection,
First sleeve（6）It is set in the first ball screw（42）On, the first sleeve（6）Away from the first junction button（2）One end and first
Ball nut（41）Connection；First ball nut（41）With the first stepper motor（8）It is sequentially connected；
Second junction button（3）On brake pedal；Second ball screw（52）One end and the second junction button（3）Connection,
Second sleeve（7）It is set in the second ball screw（52）On, second sleeve（7）Away from the second junction button（3）One end and second
Ball nut（51）Connection；Second ball nut（51）With the second stepper motor（9）It is sequentially connected；
Controller and the first stepper motor（8）, the second stepper motor（9）, upper mechatronics；Host computer and speed probe electricity
Connection.
2. the experiment drive robot according to claim 1 based on virtual instrument, which is characterized in that further include first
Shaft coupling（12）And second shaft coupling（13）；First shaft coupling（12）One end and the first stepper motor（8）It is sequentially connected, it is another
End and the first ball-screw（4）It is sequentially connected；Second shaft coupling（13）One end and the second stepper motor（9）It is sequentially connected, separately
One end and the second ball-screw（5）It is sequentially connected.
3. the experiment drive robot according to claim 1 based on virtual instrument, which is characterized in that further include stent
Plate（14）, installing plate（11）And connecting rod（10）；Supporting plate（14）It is fixedly mounted on stent（1）On, installing plate（11）With stent
Plate（14）Pivot joint；Connecting rod（10）First end and installing plate（11）Hinged, second end can be slidably mounted at supporting plate（14）On.
4. the experiment drive robot according to claim 3 based on virtual instrument, which is characterized in that the first stepping electricity
Machine（8）With the second stepper motor（9）It is installed in the installing plate（11）On.
5. according to any experiment drive robots based on virtual instrument of claim 1-3, which is characterized in that described
The first junction button（2）With the first ball screw（42）；Second junction button（3）With the second ball screw（52）It is hinged.
6. according to any experiment drive robots based on virtual instrument of claim 1-3, which is characterized in that described
The first junction button（2）Baltimore groove is equipped with, the accelerator pedal is mounted in the baltimore groove.
7. the experiment drive robot according to claim 5 based on virtual instrument, which is characterized in that described second
Junction button（3）On set groove, the brake pedal is mounted in the groove.
8. the experiment drive robot according to claim 1 based on virtual instrument, which is characterized in that pre- in host computer
Equipped with virtual instrument, which inputs pwm control signal into controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721557960.3U CN207423527U (en) | 2017-11-21 | 2017-11-21 | A kind of experiment drive robot based on virtual instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721557960.3U CN207423527U (en) | 2017-11-21 | 2017-11-21 | A kind of experiment drive robot based on virtual instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207423527U true CN207423527U (en) | 2018-05-29 |
Family
ID=62303646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721557960.3U Expired - Fee Related CN207423527U (en) | 2017-11-21 | 2017-11-21 | A kind of experiment drive robot based on virtual instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207423527U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN111220390A (en) * | 2019-12-24 | 2020-06-02 | 清华大学 | Intelligent robot for auxiliary test of automobile brake pedal performance |
| CN113092132A (en) * | 2021-03-31 | 2021-07-09 | 奇瑞汽车股份有限公司 | Vehicle pedal control system |
-
2017
- 2017-11-21 CN CN201721557960.3U patent/CN207423527U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN109491364B (en) * | 2018-11-19 | 2022-04-01 | 长安大学 | Driving robot system for vehicle testing and control method |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN110514451B (en) * | 2019-08-16 | 2021-04-27 | 天津卡达克数据有限公司 | Modular vehicle automatic driving speed control robot |
| CN111220390A (en) * | 2019-12-24 | 2020-06-02 | 清华大学 | Intelligent robot for auxiliary test of automobile brake pedal performance |
| CN113092132A (en) * | 2021-03-31 | 2021-07-09 | 奇瑞汽车股份有限公司 | Vehicle pedal control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180529 Termination date: 20181121 |