CN211205764U - Driving robot capable of being controlled by driver at any time - Google Patents
Driving robot capable of being controlled by driver at any time Download PDFInfo
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- CN211205764U CN211205764U CN201921342146.9U CN201921342146U CN211205764U CN 211205764 U CN211205764 U CN 211205764U CN 201921342146 U CN201921342146 U CN 201921342146U CN 211205764 U CN211205764 U CN 211205764U
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- brake pedal
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Abstract
The utility model discloses a driver can intervene driving robot of control at any time, including accelerator pedal operating mechanism, brake pedal operating mechanism and steering wheel operating mechanism, wherein accelerator pedal operating mechanism and brake pedal operating mechanism assemble side by side on the floor of main driving, steering wheel operating mechanism establishes in accelerator pedal operating mechanism and brake pedal operating mechanism's top, steering wheel operating mechanism front end cover is established on former car steering wheel, steering wheel operating mechanism rear end is fixed in the main driving cab, accelerator pedal operating mechanism still is connected with supplementary accelerator pedal operating mechanism, brake pedal operating mechanism is connected with supplementary brake pedal operating mechanism. Has the advantages that: the distance between the brake pedal and the accelerator pedal of different vehicles can be adjusted, so that the universality of the mechanism is improved. Powerful guarantee is provided for the safety and the efficiency of vehicle test.
Description
Technical Field
The utility model relates to a driving robot, in particular to driving robot that driver can intervene control at any time.
Background
At present, a large amount of tests and tests are necessarily carried out on the automobiles in the research and development process of related automobiles, and various supporting automobile tests and testing equipment become important.
For example, tests on economy, durability and emission of the whole vehicle, and reliability tests on running conditions of certain parts on the whole vehicle belong to projects with strong repeatability, long time consumption and severe working environment. The tester repeatedly operates for a long time in a difficult and endurable severe environment, and the consistency of each cycle operation is difficult to ensure, even error operation is generated due to negligence, and finally the test result is unreliable. Aiming at the tests, the driving robot is produced by the operation, the robot can ensure the accuracy of each operation under the condition of proper control algorithm, and meanwhile, the problems of emotional fluctuation and fatigue of human beings are avoided, so that the automatic driving robot is gradually used as a main test means for various automobile tests which are complicated, repeated and have high risk by replacing human testers.
Except for the test of serving the civil automobile, in the field of intelligent driving, under the condition that the traditional automobile is modified to waste time and labor for coping with the condition that a wire control system is not popularized yet, the driving robot greatly reduces the difficulty of modifying the traditional automobile by virtue of the characteristics of simple installation and convenient control, so that the traditional automobile can be converted into an intelligent driving platform and put into functional testing, the safety of the testing is improved while the cost is reduced, and therefore, the automobile driving robot is an ideal solution for realizing the intelligent driving blueprint of the automobile at the present stage.
Patent No. CN 108032305B, entitled "an unmanned robot for automobile", discloses a driving robot including a steering manipulator, a gear shifting manipulator case, a gear shifting manipulator control structure, a gear shifting manipulator, three mechanical legs, a three mechanical leg control structure, a mechanical leg case, and the like. The top of the mechanical leg case is fixedly connected with the bottom of the gear shifting mechanical hand case, and the steering mechanical hand is fixed to the top of the gear shifting mechanical hand case. The three mechanical legs can slide along the designed transverse slide ways to adapt to pedal positions of different vehicle types; the gear shifting manipulator realizes gear shifting by driving a link mechanism through a motor; the steering manipulator is arranged on the lifting platform to adapt to the positions of steering wheels of different vehicle types, and the steering wheel clamp is connected with the driving motor through a cross-axle universal joint.
The driving control unit disclosed in patent No. CN 102435442B entitled "an automatic driving robot for vehicle road test" includes two mechanical legs driven by a vertically disposed ball screw mechanism, a shift manipulator driven by a horizontally disposed ball screw mechanism, and a steering mechanism directly connected to a steering wheel. The mechanical legs and the steering mechanism also have a certain degree of adjustment function so as to adapt to pedals and steering wheels in different positions.
The actuating mechanism integration of above-mentioned two patents is put on main driving seat together, and the advantage lies in that the design space is great, and the design degree of difficulty is low, but has invaded human driver's the space of taking, can not guarantee that human driver can in time intervene the control vehicle, has the potential safety hazard. In addition, the two patents do not provide an effective device fixing mode, and if the relative positions of the driving device and a vehicle pedal are easy to move due to bumping and the like in the test process, the control precision is affected.
Patent No. CN 103913314B, entitled "an automatic driving robot for automobile", discloses an automatic driving robot with simple mechanical structure, which can be quickly controlled by human driver, and its accelerator, brake pedal actuator and steering actuator are designed separately. Two pedal executor design thoughts are the same, and the electronic jar promotion that is fixed through the electro-magnet is with former car footboard welded footboard baffle control throttle and brake pedal, when needs driver intervene, the electro-magnet loses the electricity, and electronic jar is pulled back by the return spring who fixes at its afterbody, no longer promotes the footboard baffle to convert into human driver control.
Although the problem of human driver intervention has been solved to a certain extent to this patent, can lead to human driver to intervene back pedal mechanism and need recalibrate the assembly, influence whole test's efficiency to its used drive arrangement control accuracy is not high.
Patent No. CN 108572576B entitled "man-machine driving together and unmanned driving technique and vehicle-mounted external driving robot for testing" discloses a linear control system, which realizes the conversion between man-machine driving together and unmanned driving together by sensors and electric cylinders, and realizes the seamless intervention of human drivers in the man-machine driving together mode. However, the whole mechanism is complex in structure and large in occupied space, and is not beneficial to the operation of a human driver.
Disclosure of Invention
The utility model aims at solving the driving robot that the mechanism that exists among the technical scheme of above-mentioned patent is complicated, occupation space is big and be unfavorable for human driver to intervene fast, withdraw from fast and experimental test safety is difficult to a great deal of problems such as assurance and the driver that provides can intervene control at any time.
The utility model provides a driver can intervene driving robot of control at any time including accelerator pedal operating mechanism, brake pedal operating mechanism and steering wheel operating mechanism, wherein accelerator pedal operating mechanism and brake pedal operating mechanism assemble on the floor of main driving side by side, steering wheel operating mechanism establishes the top at accelerator pedal operating mechanism and brake pedal operating mechanism, steering wheel operating mechanism front end cover is established on former car steering wheel, steering wheel operating mechanism rear end is fixed in the main driving cabin, accelerator pedal operating mechanism still is connected with supplementary accelerator pedal operating mechanism, brake pedal operating mechanism is connected with supplementary brake pedal operating mechanism.
The accelerator pedal control mechanism and the brake pedal control mechanism are identical in structure and respectively comprise a base, a first motor, a lead screw and a push rod, wherein the base is assembled on a first slide way, the base can slide along the first slide way, the first motor and the lead screw are arranged on the base, an output shaft of the first motor is connected with the lead screw, a coupler is assembled between the output shaft of the first motor and the lead screw, the first motor drives the lead screw to rotate, a nut is screwed on the lead screw, the nut can move on the lead screw by the rotation of the lead screw, the front end of the push rod is hinged on the nut, the rear end of the push rod is hinged on a lower clamp at the lower part of the accelerator pedal or the brake pedal, the push rod and the nut synchronously move, an adjusting screw rod penetrates through an upper clamp at the upper part of the accelerator pedal or the brake pedal and the lower clamp at the lower part of the accelerator pedal or the brake, through holes which are transversely arranged are formed in the upper portion of the upper clamp and the lower portion of the lower clamp, and the clamping blocks can be installed in different through holes according to the width of pedals in different vehicles.
The first motor is a brushless DC motor.
The auxiliary accelerator pedal control mechanism comprises an auxiliary accelerator pedal, a support, a sliding block, a second slide way, a connecting rod and a force transmission plate, wherein the lower part of the auxiliary accelerator pedal is hinged on the support, the sliding block is assembled on the second slide way and can slide along the second slide way, the upper end of the connecting rod is hinged on the upper part of the auxiliary accelerator pedal, the lower end of the connecting rod is hinged on the sliding block, one end of the force transmission plate is fixed on one side of the sliding block, the other end of the force transmission plate is connected with a base of the accelerator pedal control mechanism, and the auxiliary accelerator pedal control mechanism and the accelerator pedal control mechanism can be linked through the force transmission plate.
The auxiliary brake pedal operating mechanism comprises an auxiliary brake pedal, a fixing plate and a support, wherein one end of the fixing plate is fixed at the top end of the auxiliary brake pedal, the other end of the fixing plate is fixedly connected to one side of the support, the support is fixed on a base of the brake pedal operating mechanism, the auxiliary brake pedal is in a right trapezoid shape, reinforcing ribs are assembled at the lower part of the fixing plate, and the auxiliary brake pedal operating mechanism and the brake pedal operating mechanism can be linked through the support.
The steering wheel control mechanism comprises a second motor, an electromagnetic clutch and a fixing frame, wherein the second motor is assembled in a shell, the electromagnetic clutch is fixed at one end of the shell, the second motor is connected with the electromagnetic clutch and controls the work of the electromagnetic clutch, a speed reducer is further arranged between the second motor and the electromagnetic clutch, the electromagnetic clutch is connected with the fixing frame through a flange, the fixing frame is composed of three fixing plates, the included angle between every two adjacent fixing plates is 120 degrees, a sliding rod is fixedly connected to the top end of each fixing plate, a fixing block is sleeved on the sliding rod and can slide on the sliding rod, a V-shaped clamp is assembled on the fixing block, an original vehicle steering wheel is clamped in the V-shaped clamp, a pressing plate is further arranged at the top end of the V-shaped clamp, a limiting clamp is further arranged at the top end of the sliding rod, a supporting, the suction cup can be adsorbed on the front window glass or the glass of the door window of the vehicle, and the steering wheel control mechanism can be further fixed through the support rod and the suction cup.
The second motor is a brushless DC motor.
The first motor, the second motor, the electromagnetic clutch and the speed reducer are all assembled by existing equipment, and therefore specific models and specifications are not described repeatedly.
The utility model discloses a theory of operation:
the utility model provides a driver can intervene driving robot's of control at any time concrete working process as follows:
the working process of the accelerator pedal control mechanism and the brake pedal control mechanism is as follows: an output shaft of the first motor drives the lead screw to rotate through the coupler. With the clockwise rotation of the screw, the nut threaded with the screw moves forward along the axis of the screw. Along with the movement of the nut, the power is transmitted to the lower clamp through the push rod, and then the effect of stepping on an accelerator pedal or a brake pedal is obtained. If the first motor rotates anticlockwise, the nut can move backwards, and then the effect of loosening the accelerator pedal or the brake pedal is achieved.
Procedure when intervention of the driver on the throttle control is required: the driver tramples the auxiliary accelerator pedal, so that the force of trampling the pedal is transmitted to the sliding block through the connecting rod and is enabled to slide on the second slide way. At the moment, the linear motion of the sliding block can be transmitted to the upper part of the accelerator pedal control mechanism through the force transmission plate, and the motion of the upper part is transmitted to the accelerator pedal through the push rod, so that the purpose of treading the accelerator pedal is achieved.
Procedure when driver intervention brake control is required: the driver steps on the auxiliary brake pedal, and because the auxiliary brake pedal is rigidly connected with the fixing plate, the bracket and the upper part of the brake pedal control mechanism, the force and the displacement of the stepping pedal can be directly transmitted to the brake pedal through the push rod, thereby achieving the effect of controlling the brake pedal.
The specific working process of the steering wheel control mechanism is as follows: the output shaft of the second motor is output through the output shaft after the speed reduction and torque increase of the speed reducer. In the normal working process, the two parts of the electromagnetic clutch are electrically attracted, and the output torque of the speed reducer is transmitted to the fixed frame through the friction torque of the attraction base surface. The fixing frame clamps the original vehicle steering wheel through the clamp, and the torque transmitted to the fixing frame is finally applied to the original vehicle steering wheel to drive the vehicle to steer.
Procedure when driver intervention in steering wheel control is required: the electromagnetic clutch is directly de-energized, so that a human driver can rotate the original vehicle steering wheel by using a smaller driving torque. When the situation is emergent, the steering torque which can be driven by the electromagnetic clutch is limited, and after a driver applies torque which is larger than the rated torque of the electromagnetic clutch, the original vehicle steering wheel can be directly driven by a human driver.
The utility model has the advantages that:
the utility model discloses a footboard control part has adopted the equal higher accurate ball screw mechanism of control accuracy and transmission efficiency to not use complicated connecting rod and transmission, realized efficient operation and make mechanism complexity greatly reduced. The whole set of pedal control mechanism is flatly laid on the floor of the main cab, and does not occupy the space of the driver seat, so that the space utilization rate is greatly improved. The brake pedal control mechanism and the accelerator pedal control mechanism adopt a split design, and can be adjusted according to different distances between different vehicle brakes and accelerator pedals, so that the universality of the mechanism is improved.
The utility model discloses a steering wheel control part is direct fixed through former car steering wheel, door glass and windshield, does not occupy the driver seat space, has realized space utilization's optimization, and the adaptation to different diameter sizes and thickness degree steering wheel can be realized to the anchor clamps part, has improved the commonality of mechanism.
The utility model discloses an auxiliary accelerator pedal operating mechanism, auxiliary brake pedal operating mechanism structure and have electromagnetic clutch's steering wheel operating mechanism can realize that vehicle automatic control's in-process driver inserts footboard and steering wheel control at any time, can enough realize the man-made vehicle control under emergency in order to avoid taking place danger, can remain the ability that human driver drove the car again. Powerful guarantee is provided for the safety and the efficiency of vehicle test.
Drawings
Fig. 1 is the utility model discloses a driving robot overall structure sketch map.
Fig. 2 is the structure schematic diagram of the accelerator pedal control mechanism or the brake pedal control mechanism of the present invention.
Fig. 3 is the structure schematic diagram of the upper clamp and the lower clamp on the accelerator pedal or the brake pedal of the present invention.
Fig. 4 is the structure schematic diagram of the auxiliary accelerator pedal control mechanism of the utility model.
Fig. 5 is a schematic structural view of the auxiliary brake pedal operating mechanism of the present invention.
Fig. 6 is a schematic structural view of the steering wheel operating mechanism of the present invention.
Fig. 7 is a schematic view of the inner structure of the housing according to the present invention.
The labels in the above figures are as follows:
1. accelerator pedal control mechanism 2, brake pedal control mechanism 3, steering wheel control mechanism
4. Original vehicle steering wheel 5, auxiliary accelerator pedal operating mechanism 6 and auxiliary brake pedal operating mechanism
7. Base 8, first motor 9, lead screw 10, push rod 11, first slide 12, shaft coupling
13. Nut 14, clamping block 15, accelerator pedal 16, brake pedal 17 and upper clamp
18. Lower clamp 19, adjusting screw 20, auxiliary accelerator pedal 21, support 22 and slide block
23. Second slide way 24, connecting rod 25, force transmission plate 26, auxiliary brake pedal 27 and fixing plate
28. Bracket 29, second motor 30, electromagnetic clutch 31, fixing frame 32 and shell
33. Speed reducer 34, slide bar 35, fixed block 36, V-shaped clamp 37 and pressing plate
38. A limit clamp 39, a support rod 40 and a suction cup.
Detailed Description
Please refer to fig. 1 to 7:
the utility model provides a driver can intervene driving robot of control at any time including accelerator pedal operating mechanism 1, brake pedal operating mechanism 2 and steering wheel operating mechanism 3, wherein accelerator pedal operating mechanism 1 and brake pedal operating mechanism 2 assemble side by side on the floor of main driving, steering wheel operating mechanism 3 establishes in accelerator pedal operating mechanism 1 and brake pedal operating mechanism 2's top, 3 front end covers of steering wheel operating mechanism establish on former car steering wheel 4, 3 rear ends of steering wheel operating mechanism are fixed in the main driving room, accelerator pedal operating mechanism 1 still is connected with supplementary accelerator pedal operating mechanism 5, brake pedal operating mechanism 2 is connected with supplementary brake pedal operating mechanism 6.
The accelerator pedal control mechanism 1 and the brake pedal control mechanism 2 have the same structure and respectively comprise a base 7, a first motor 8, a lead screw 9 and a push rod 10, wherein the base 7 is assembled on a first slideway 11, the base 7 can slide along the first slideway 11, the first motor 8 and the lead screw 9 are arranged on the base 7, an output shaft of the first motor 8 is connected with the lead screw 9, a coupler 12 is assembled between the output shaft of the first motor 8 and the lead screw, the lead screw 9 is driven to rotate by the first motor 8, a nut 13 is screwed on the lead screw 9, the nut 13 can move on the lead screw 9 by the rotation of the lead screw 9, the front end of the push rod 10 is hinged on the nut 13, the rear end of the push rod 10 is hinged on a lower clamp 18 at the lower part of an accelerator pedal 15 or a brake pedal 16, the push rod 10 and the nut 13 move synchronously, an upper clamp 17 at the upper part of the accelerator pedal 15 or the brake pedal 16 and the lower clamp 18 at the lower part of the accelerator, the distance between the upper clamp 17 and the lower clamp 18 can be adjusted through the adjusting screw rod 19, the upper part of the upper clamp 17 and the lower part of the lower clamp 18 are provided with through holes which are transversely arranged, and the clamping blocks 14 can be arranged in different through holes according to the width of pedals in different vehicles.
The first motor 8 is a brushless dc motor.
The auxiliary accelerator pedal control mechanism 5 comprises an auxiliary accelerator pedal 20, a support 21, a slide block 22, a second slide way 23, a connecting rod 24 and a force transfer plate 25, wherein the lower part of the auxiliary accelerator pedal 20 is hinged on the support 21, the slide block 22 is assembled on the second slide way 23 and can slide along the second slide way 23, the upper end of the connecting rod 24 is hinged on the upper part of the auxiliary accelerator pedal 20, the lower end of the connecting rod 24 is hinged on the slide block 22, one end of the force transfer plate 25 is fixed on one side of the slide block 22, the other end of the force transfer plate 25 is connected with a base 7 of the accelerator pedal control mechanism 1, and the auxiliary accelerator pedal control mechanism 5 and the accelerator pedal control mechanism 1 can be linked through the force transfer plate 25.
The auxiliary brake pedal operating mechanism 6 comprises an auxiliary brake pedal 26, a fixing plate 27 and a bracket 28, wherein one end of the fixing plate 27 is fixed at the top end of the auxiliary brake pedal 26, the other end of the fixing plate 27 is fixedly connected to one side of the bracket 28, the bracket 28 is fixed on the base 7 of the brake pedal operating mechanism 2, the auxiliary brake pedal 26 is in a right trapezoid shape, the lower part of the fixing plate 27 is provided with a reinforcing rib, and the auxiliary brake pedal operating mechanism 6 and the brake pedal operating mechanism 2 can be linked through the bracket 28.
The steering wheel control mechanism 3 comprises a second motor 29, an electromagnetic clutch 30 and a fixed frame 31, wherein the second motor 29 is assembled in a shell 32, the electromagnetic clutch 30 is fixed at one end of the shell 32, the second motor 29 is connected with the electromagnetic clutch 30 and controls the work of the electromagnetic clutch 30, a speed reducer 33 is further arranged between the second motor 29 and the electromagnetic clutch 30, the electromagnetic clutch 30 is connected with the fixed frame 31 through a flange, the fixed frame 31 is composed of three fixed plates, the included angle between every two adjacent fixed plates is 120 degrees, a sliding rod 34 is fixedly connected to the top end of each fixed plate, a fixed block 35 is sleeved on each sliding rod 34, each fixed block 35 can slide on each sliding rod 34, a V-shaped clamp 36 is assembled on each fixed block 35, the original vehicle steering wheel 4 is clamped in the V-shaped clamp 36, a pressing plate 37 is further arranged at the top end of each V-shaped clamp 36, and a limiting clamp, the outer side wall of the housing 32 is hinged with a support rod 39, the head end of the support rod 39 is hinged with a suction cup 40, the suction cup 40 can be adsorbed on the front window glass or the glass of the door window of the vehicle, and the steering wheel control mechanism 3 can be further fixed through the support rod 39 and the suction cup 40.
The second motor 29 is a brushless dc motor.
The first motor 8, the second motor 29, the electromagnetic clutch 30 and the speed reducer 33 are all assembled in the existing equipment, and therefore, the specific model and specification are not described in detail.
The utility model discloses a theory of operation:
the utility model provides a driver can intervene driving robot's of control at any time concrete working process as follows:
the working process of the accelerator pedal operating mechanism 1 and the brake pedal operating mechanism 2 is as follows: an output shaft of the first motor 8 drives the screw rod 9 to rotate through the coupler 12. With the clockwise rotation of the screw shaft 9, the nut 13 screwed with the screw shaft 9 moves forward along the axis of the screw shaft 9. As the nut 13 moves, power is transmitted to the lower jig 18 through the push rod 10, and the accelerator pedal 15 or the brake pedal 16 is stepped on. If the first motor 8 rotates counterclockwise, the nut 13 can move backward, and the accelerator pedal 15 or the brake pedal 16 can be released.
Procedure when intervention of the driver on the throttle control is required: when the driver steps on the auxiliary accelerator pedal 20, the pedal stepping force is transmitted to the slider 22 through the connecting rod 24 and slides on the second slide rail 23. At this time, the linear motion of the slider 22 can be transmitted to the upper part of the accelerator pedal control mechanism 1 through the force transmission plate 25, and the motion of the upper part is transmitted to the accelerator pedal 15 through the push rod 10, so as to achieve the purpose of stepping on the pedal.
Procedure when driver intervention brake control is required: when the driver steps on the auxiliary brake pedal 26, the auxiliary brake pedal 26 is rigidly connected with the fixing plate 27, the bracket 28 and the upper part of the brake pedal operating mechanism 2, so that the stepping force and displacement can be directly transmitted to the brake pedal 16 through the push rod 10, and the function of controlling the brake pedal 16 is achieved.
The specific working process of the steering wheel control mechanism 3 is as follows: the output shaft of the second motor 29 is output through the output shaft thereof after being decelerated and torque-increased by the speed reducer 33. In the normal working process, the two parts of the electromagnetic clutch 30 are electrically attracted, and the output torque of the speed reducer 33 is transmitted to the fixed frame 31 through the friction torque of the attraction base surface. The fixing frame 31 clamps the original vehicle steering wheel 4 through a clamp, and the torque transmitted to the fixing frame 31 is finally applied to the original vehicle steering wheel 4 to drive the automobile to steer.
Procedure when driver intervention in steering wheel control is required: the electromagnetic clutch 30 is directly de-energized, so that the human driver can rotate the original steering wheel 4 with a smaller driving torque. When the situation is emergent, the steering torque which can be driven by the electromagnetic clutch 30 is limited, and after the driver applies torque which is larger than the rated torque of the electromagnetic clutch 30, the original vehicle steering wheel 4 can be directly driven by a human driver.
Claims (7)
1. A driving robot for driver intervention control at any time is characterized in that: the accelerator pedal control mechanism and the brake pedal control mechanism are assembled on a main driving floor in parallel, the steering wheel control mechanism is arranged above the accelerator pedal control mechanism and the brake pedal control mechanism, the steering wheel control mechanism is sleeved on an original vehicle steering wheel, the accelerator pedal control mechanism is further connected with an auxiliary accelerator pedal control mechanism, and the brake pedal control mechanism is connected with an auxiliary brake pedal control mechanism.
2. The robot driver's intervention control at any time as claimed in claim 1, wherein: the accelerator pedal control mechanism and the brake pedal control mechanism are identical in structure and respectively comprise a base, a first motor, a lead screw and a push rod, wherein the base is assembled on a first slide way, the base can slide along the first slide way, the first motor and the lead screw are arranged on the base, an output shaft of the first motor is connected with the lead screw, a coupler is assembled between the output shaft of the first motor and the lead screw, the first motor drives the lead screw to rotate, a nut is screwed on the lead screw, the nut can move on the lead screw by the rotation of the lead screw, the front end of the push rod is hinged on the nut, the rear end of the push rod is hinged on an accelerator pedal or a lower clamp at the lower part of the brake pedal, the push rod and the nut synchronously move, an adjusting screw rod penetrates through an upper clamp at the upper part of the accelerator pedal or the brake pedal and a lower clamp at the lower part of the accelerator pedal or the brake pedal, through holes which are transversely arranged are formed in the upper portion of the upper clamp and the lower portion of the lower clamp, and the clamping blocks can be installed in different through holes according to the width of pedals in different vehicles.
3. The robot driver's intervention control at any time as claimed in claim 2, wherein: the first motor is a brushless direct current motor.
4. The robot driver's intervention control at any time as claimed in claim 1, wherein: the auxiliary accelerator pedal operating mechanism comprises an auxiliary accelerator pedal, a support, a sliding block, a second slide way, a connecting rod and a force transmission plate, wherein the lower part of the auxiliary accelerator pedal is hinged on the support, the sliding block is assembled on the second slide way and can slide along the second slide way, the upper end of the connecting rod is hinged on the upper part of the auxiliary accelerator pedal, the lower end of the connecting rod is hinged on the sliding block, one end of the force transmission plate is fixed on one side of the sliding block, the other end of the force transmission plate is connected with a base of the accelerator pedal operating mechanism, and the auxiliary accelerator pedal operating mechanism and the accelerator pedal operating mechanism can be linked through the force transmission plate.
5. The robot driver's intervention control at any time as claimed in claim 1, wherein: the auxiliary brake pedal control mechanism comprises an auxiliary brake pedal, a fixing plate and a support, wherein one end of the fixing plate is fixed to the top end of the auxiliary brake pedal, the other end of the fixing plate is fixedly connected to one side of the support, the support is fixed to the base of the brake pedal control mechanism, the auxiliary brake pedal is in a right trapezoid shape, reinforcing ribs are assembled on the lower portion of the fixing plate, and the auxiliary brake pedal control mechanism and the brake pedal control mechanism can be linked through the support.
6. The robot driver's intervention control at any time as claimed in claim 1, wherein: the steering wheel control mechanism comprises a second motor, an electromagnetic clutch and a fixing frame, wherein the second motor is assembled in a shell, the electromagnetic clutch is fixed at one end of the shell, the second motor is connected with the electromagnetic clutch and controls the work of the electromagnetic clutch, a speed reducer is further arranged between the second motor and the electromagnetic clutch, the electromagnetic clutch is connected with the fixing frame through a flange plate, the fixing frame is composed of three fixing plates, an included angle between every two adjacent fixing plates is 120 degrees, a sliding rod is fixedly connected to the top end of each fixing plate, a fixing block is sleeved on the sliding rod and can slide on the sliding rod, a V-shaped clamp is assembled on the fixing block, an original steering wheel is clamped in the V-shaped clamp, a pressing plate is further arranged at the top end of the V-shaped clamp, a limiting clamp is further arranged at the top end of the sliding rod, a supporting rod is, the suction cup can be adsorbed on the front window glass or the glass of the door window of the vehicle, and the steering wheel control mechanism can be further fixed through the support rod and the suction cup.
7. The robot driver's intervention control at any time as claimed in claim 6, wherein: the second motor is a brushless direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921342146.9U CN211205764U (en) | 2019-08-19 | 2019-08-19 | Driving robot capable of being controlled by driver at any time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921342146.9U CN211205764U (en) | 2019-08-19 | 2019-08-19 | Driving robot capable of being controlled by driver at any time |
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| CN211205764U true CN211205764U (en) | 2020-08-07 |
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|---|---|---|---|
| CN201921342146.9U Expired - Fee Related CN211205764U (en) | 2019-08-19 | 2019-08-19 | Driving robot capable of being controlled by driver at any time |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455553A (en) * | 2019-08-19 | 2019-11-15 | 吉林大学 | A kind of drive robot that achievable driver intervenes at any time |
| CN112947192A (en) * | 2021-02-10 | 2021-06-11 | 吉林大学 | Teleoperation vehicle driving system |
| CN113074962A (en) * | 2021-04-21 | 2021-07-06 | 吉林大学 | Vehicle braking and steering system integrated test bench |
-
2019
- 2019-08-19 CN CN201921342146.9U patent/CN211205764U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110455553A (en) * | 2019-08-19 | 2019-11-15 | 吉林大学 | A kind of drive robot that achievable driver intervenes at any time |
| CN110455553B (en) * | 2019-08-19 | 2024-03-01 | 吉林大学 | Driving robot capable of realizing intervention of driver at any time |
| CN112947192A (en) * | 2021-02-10 | 2021-06-11 | 吉林大学 | Teleoperation vehicle driving system |
| CN113074962A (en) * | 2021-04-21 | 2021-07-06 | 吉林大学 | Vehicle braking and steering system integrated test bench |
| CN113074962B (en) * | 2021-04-21 | 2022-06-14 | 吉林大学 | Vehicle braking and steering system integrated test bench |
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