JPH03146841A - Robot for automobile driving on chassis dynamo - Google Patents

Abstract

PURPOSE:To quickly and easily perform the mounting of a robot on a car body and to move a pedal smoothly by adjusting the position and the angle of each actuator being located at a position higher than each pedal with position and angle adjusting means. CONSTITUTION:The mounting of the robot is performed by placing a substrate 1 on the seat part 51 of a sheet 50 for driver, and fixing the substrate 1 at the seat part 51 by sandwiching the seat part 51 with flaps 41a, 41b from both sides. A supporting material 15 is press contacted with a seat back 52 by rotating an operating nut 17, which prevents a main body 2 collapsing to a seat back 52 side when the actuators 18, 19, and 20 depress the pedal. The actuator 18 is slid horizontally, and the angle of the actuator 18 is adjusted by rotating an adjusting bolt 30a, thereby, the position and the angle can be adjusted so as to fit an accelerator pedal to be pressed with a sensor 18a. The same adjustment are performed on the actuators 19, 20. Furthermore, after the arm of an actuator 35 for shift lever is moved, data required for operation is inputted to the controller of the actuator 35.

Description

DETAILED DESCRIPTION OF THE INVENTION (Prior Art) Completed automobiles and the like are driven in predetermined driving patterns on a chassis dynamometer for purposes such as testing emissions and fuel efficiency in various driving modes. This automobile driving is performed by robots in order to save labor and improve the reproducibility of driving.

This car driving robot, for example,
A vehicle driving device disclosed in Japanese Patent No. 190944 is known.

This driving device is a device for operating an accelerator, and is equipped with an actuator consisting of an arm for moving an accelerator pedal and a drive device for reciprocating this arm. The vehicle is driven in a predetermined driving pattern by adjusting the opening degree of the opening.

The driving device disclosed in the above publication operates only the accelerator, but it also uses an actuator for operating the clutch pedal and a shift lever actuator for moving the shift lever. Each actuator is configured separately.

It is also known to use the three actuators at the same time, as shown in FIG. 17, for example.

In FIG. 17, 71 is the vehicle body, 72 is an accelerator pedal, 73 is a brake pedal, 74 is a clutch pedal, and 75 is a
is the seat for the driver, and 76 is the seat for the assistant 1 to . 77 is an actuator for an accelerator pedal, 78 is an actuator for a tarlage pedal, 7 is a shift lever, 80 is an actuator for a shift lever, and this includes a shift lever 79.
A holder 81 is provided to hold the .

The shift lever actuator 80 is configured to drive the holding body 81 in the X-axis direction, Y-axis direction, and Z-axis direction to move the shift lever 79 held by the shift lever actuator 80.

The accelerator pedal actuator 77 and the clutch pedal actuator 78 are in contact with the accelerator pedal 72 and the clutch pedal 4, respectively.
The surface plate 82.83 is fixed to the floor in front of the driver's seat 75 by adjusting its installation position in advance.
It's been taken a while. The shift lever actuator 80 is installed on a surface plate 84 fixed to the floor in a certain space of the assistant's seat 76 by adjusting its installation position so that the shift lever 79 can be held with its holder 81. I'm being criticized.

(Problem to be Solved by the Invention) A conventional vehicle driving robot on a chassis tie demonstration has an actuator for an accelerator pedal, as disclosed in, for example, the above-mentioned Japanese Utility Model Application No. 63-1.90944. An actuator is provided independently on the pedal.

In FIG. 17, the accelerator pedal actuator 77, the clutch pedal actuator 18, and the shift lever actuator 80 are connected to the surface plates 82, 83.
84 was first fixed to the floor surface and then fixed to these. Therefore, it is necessary to take the trouble of fixing the surface plates 82, 83, 84 to the floor surface, and also the actuators 77, 7
8. When fixing 80, it is necessary to adjust the positional relationship between them, the pedals 72, 74, and the shift lever 79, so there is a problem that the effort required to circumferentially position the actuators 77, 78□80 becomes considerably large. .

The floor surface is the front side of the driver's seat 75 and the assistant seat 76, and the space is narrow and low, and the work is difficult due to the position and size of the vehicle entrance (not shown). Since the possible range is further narrowed, there is a problem that the workability of fixing the surface plates 82, 83, 84 and attaching the actuators 77, 78, 80 to these is poor, and that the installation G1 requires a long time.

Further, the pedals 72, 74 are configured to be moved by pushing them diagonally from above.
74 is operated by actuators 77 and 78 fixed to the floor lower than them, so the actuators 77.7
There is also the problem that it is necessary to make the 8 compatible with the pedals 72 and 74.

The present invention is intended to solve the following problems, and is capable of quickly and easily attaching it to the vehicle body, and also provides a chassis tie demonstration system that allows each pedal to move smoothly. car driving robot 1
It is something that is used for the purpose of obtaining ~.

(Means for Solving the Problems) The automobile driving robot of the present invention has driver seats 1 to I.
- The main body is attached to a base located at the base, and the base or the main body is provided with a fixing means for fixing it to the car body, and each pedal is operated individually in correspondence with each of all the pedals. A plurality of actuators are provided in the main body so as to be slidable in the direction in which they are lined up and swingable in the L downward direction, and the position of each of the plurality of actuators in the direction in which they are lined up is adjusted. and an angle adjustment means to adjust the angle in the downward direction. -1, the base or the main body is provided with an actuator for the shift lever that holds the shift lever and moves it in a desired direction; Examples of automobile structures that are fixed by means include the driver's seat (and handle), the driver's seat, the seat, the rail part that fixes it to the floor, Everything including the backrest can be used.

(Function) This car driving robot has its base in contact with the seat of the driver's seat, or in a state where it is floating from the seat of the driver's seat, depending on the fixing means of the base or the main body. Then, it is positioned thereon and fixed with the fixing means. The position and angle of each actuator located above each pedal are adjusted by the respective position adjustment means and angle adjustment means, so that each pedal can be pressed and operated. The present invention is also a holder for an actuator for a shift lever, which holds the tip of the shift lever.

(Embodiment) A first embodiment of a car driving robot on a chassis dynamo according to the present invention will be described with reference to FIGS. 1 to 11.

In Figures 1 to 11, ■ is the base, and the main body 2 is placed above this.
is installed. The main body 2 is attached to the base 1 by using a threaded shaft supported by a threaded pipe 3 fixed to the main body 2 so as to be rotatable in the circumferential direction but not slidable in the axial direction by a bearing 4 fixed to the base 1. Screw in 5 (see Figure 4)
, and a support rod 6 provided on the stand 1 parallel to the screw shaft 5 is slidably inserted into a support pipe 7 fixed to the main body 2 (see FIG. 5).

The screw shaft 5 has its end projected outside the main body 2, and is rotated by its knob 5a.

As shown in FIG. 5, the support rod 6 is inserted into the arc-shaped long support hole 9 of the support body 8 fixed to the base 1, and the locking step 10 of the support rod 6 is inserted into the support body 8. It is locked on the measuring surface of 8. A tightening nut 12 is engaged with a screw 11 at the end of the support rod 6. This tightening nut 12
is a device that protrudes outside the main body 2 and is operated by a lever 13 from outside the main body 2. When the tightening nut 12 is tightened, the support rod 6 is fixed to the support body 8, and when loosened, the support rod 6 is fixed to the support body 8. It becomes movable along the elongated hole 9. Reference numeral 14 denotes an arcuate elongated hole formed in book #2 in correspondence with the movement locus of the tightening nut 12.

Therefore, when the screw shaft 5 is rotated, the screw pipe 3 moves, and the support pipe 7 slides along the support rod 6, so that the main body 2 moves. Also, when the tightening nut 1-12 is loosened, the main body 2
can be swung together with the support rod 6, and the tightening nut 12 is tightened after its inclination is substantially eliminated.

Reference numeral 15 denotes a support member that is pivoted to the end of the base 1 and provided above it, and this is a seat for the driving groove!・It is placed in contact with the backrest of 15a is a support rod attached to the support member 15 in a direction parallel to the screw shaft 5, and 16a is the support rod 1.
5a is a bolt whose end is rotatably and slidably attached, 16b is a bolt whose end is pivoted to the main body 2, and these bolts 16a and 16b are respectively attached to the operating nut 1.
Since the pins 16a and 16b have opposite threads to each other, the distance between the support member 15 and the main body 2 changes in accordance with the direction of rotation of the operating nut 17.

18 is an actuator for the accelerator pedal, 19 is an actuator for the brake, and 20 is an actuator for the clutch pedal, and these actuators 18.19.
20 are attached to the main body 2 in alignment in the axial direction of the screw shaft 5.

All of the actuators 18, 19, and 20 have the same configuration, and as shown in FIG. 6 for the actuator 18, an arm 22 made of a round pipe is placed in a support member 21 made of a square pipe, and the arm 22 is slidable in the axial direction. A threaded portion 25 of a drive rod 24 inserted into the arm 22 is engaged with a screw 23 provided on the inner circumferential surface over almost the entire length of the arm 22. has been done. And the drive rod 24
is rotated by a servo motor (not shown).

That is, by rotating the drive rod 24, the protruding length of the arm 22 of the actuator 18 from the support member 21 is changed as shown by the solid line and the chain line in FIG. 1, and the pedal is pushed or returned. It is.

18a, 19a, 20a are actuators 18.1
9. With the sensor provided at the tip of each arm 22 of 20,
With these, each arm 22 slides and contacts the pedal, and the actuators 18 and 1 relative to the main body 2
Attachment of 9°20 is carried out using attachment members 26a, 26 fixed to the ends of each support member 21, as shown in FIGS. 7 and 8.
b, 26C in the direction parallel to the screw shaft 5 of the main body 2;
This is done by attaching it to the group ft rod 27 provided in the frame so that it can slide and rotate. A holding member 29a is attached to the support rod 28 provided on the main body 2 in a direction parallel to the mounting rod 27 so as to control the slide and the tq1 shift.
, 29b, 29c, adjustment bolts 30a, 30b, 30c as angle adjustment means are rotatably inserted through the adjustment bolts 31, which are attached to each of the support members 21.
a, 31b, and 31c.

Therefore, the adjustment port l-30a, 30b, 3
When 0c is rotated, the respective mounting members 26a, 26b,
26c swings to adjust the downward position of each sensor 18a, 19a, 20a of actuator 18, 19, 20.

Further, an adjustment member 32a is slidably attached to the attachment rod 27 together with the attachment members 26a, 26b, and 26c.

32b, 32c (7) Threaded holes 33 formed in each
a, 33b, 33C, adjustment screw shafts 34a, 34b as attached adjustment means.

34c are screwed in, and their ends protrude outside the main body 2, allowing them to be turned from outside the main body 2.

The adjustment screw shafts 34a, 34b, 34c pass through all of the mounting members 26a, 26b, 26c, but the screw holes 33a, 33b, 33c
The other holes are screw holes 33a.

It is a non-threaded hole with a larger diameter than 33b and 33c.

Therefore, when each of the adjustment screw shafts 34a, 34b, and 34c is rotated, the adjustment member 32a is rotated accordingly.
, 32b, 32c move, and the mounting members 26a, 26
b, actuator 18.19.20 via 26c
Since each slides, the actuator is 1g,
The positional relationship of each of the pedals 19 and 20 with respect to each pedal can be adjusted.

Note that the ends of the mounting members 26a, 26b, and 26c attached to the mounting rod 27 are provided with adjustment members 32a, 32b.
, 32c.

2 35 is a shift lever actuator provided on the main body 2, and in order to move the shift lever (not shown) in a required direction, the arm 36 is moved in the X-axis direction, Y-axis direction, and Z-axis direction. It is configured to be moved separately. The arm 36 is moved in each direction by rotating screw shafts (not shown) arranged in the respective directions using a servo motor or the like.
This is the same as the actuator for the shift lever of the conventional robot.

37 is a holder (the ninth one) fixed to the tip of the arm 36.
(see figure), which has a reverse circular cross-section so that the tip of a shift lever (not shown) can be inserted and held therein. A detection piece 38 has a base pivoted on the outer surface of the top wall of the holder 37, and its tip is inserted into the holder 37 through a hole 39 formed in the holder 141; Reference numeral 40 denotes a proximity switch disposed above the detection piece 38, which is turned on and off by the swinging of the detection piece 38.

That is, when the tip of the shift lever is inserted into the holding body 37 for a predetermined length, the tip of the shift lever is inserted into the detection piece 38.
, the proximity switch 40 is turned on, for example, and the inserted state of the shift lever is checked. Then, by immediately moving the shift lever, the holding body 37 is pulled out by a predetermined amount or more, and separated from the tip 40, the proximity switch 40 is turned OFF, and it is detected that the shift lever has been pulled out by a predetermined amount or more. do. Therefore, the actuator 35 for the shift lever is the arm 36.
to prevent the shift lever from coming off from the holding body 37.

41a and 41b are flaps as fixing means whose two ends are attached to each end of the base 1 in the axial direction of the screw shaft 5, and connecting members 42 and 42 are erected and fixed to the upper ends of each flap. , and a support elongated hole 43 that is long in the vertical direction is provided in these. A bearing 44 is fixed on the base 1 in a direction parallel to the screw shaft 5, and is rotatable in the circumferential direction and disabled in the axial direction.
An operating screw shaft 45 is supported in a direction parallel to the operating screw shaft 45, and each connecting member 42 is attached to the side surface of each nut 46 engaged with this operating screw shaft 45 with a bolt 47 inserted therethrough (10th to (See Figure 11). In addition, the operation screw shaft 4
The screws 5 are oppositely threaded on both ends thereof, and the pair of nuts 46 and 46 (see Fig. 3) are also reversely threaded.

Therefore, the operating screw shaft 45 can be connected to the nut 46.
When the flaps 41a are rotated in the direction in which the connecting members 46 become closer together, the connecting members 42 are tilted in the direction in which the connecting members 42 become closer to each other within the length of the support elongated hole 43.

41b rotate in a direction that moves away from each other. Conversely, when the operating screw shaft 45 is rotated in a direction in which each nut 46, 46 is moved away from each other, each connecting member 42 is tilted in a direction in which each of the connecting members 42 is moved away from each other, so that each of the flaps 41a and 41b is rotated in a direction in which each of the flaps 41a and 41b becomes closer to each other. and tighten the object between them.

50 is a driver's seat, which includes a seat portion 51 and a backrest 5.
2, and a rail 53 that fixes the seat 51 to the floor surface and allows it to slide firmly.

5 The automobile driving robot on the chassis dynamo of this embodiment is constructed as described above.

To install this robot on a car, use the operating screw shaft 4.
When the base 1 is placed on the seat portion 51 by rotating each of the flaps 41a and 41b in the direction in which they move away from each other as described above, the flaps 41a and 41b
After making sure that it does not get in the way, as shown in FIG. 1, the base 1 is placed on the seat portion 51 of the driver's seat 50 with the support member 15 facing the backrest 52 side.

Then, by rotation of the operating screw shaft 45, the flap 41a is opened.

41b toward the seat portion 51, and
As partially shown in the figure, flaps 41a, 41b''
'C-Pinch the seat 51 from both sides and place the base 1 on the seat 51.
Fix it so that it does not move. Further, the tightening nut 12 is loosened to allow the main body 2 to swing about the screw shaft 5 as a support axis, and after substantially eliminating the inclination of the main body 2, the tightening nut 12 is tightened to fix the main body 2. Further, by rotating the operating nut 17, the support member 15 is moved toward the backrest 52, and the support member 15 is brought into pressure contact state 6 with the backrest 52, and when the actuator 18, 19, 20 presses the pedal, the main body 2 prevent it from falling toward the backrest 52 side. This completes the attachment of the robot to the driver's seat 50. Support material 15 and backrest 52
The relationship can also be set by adjusting the angle of the backrest 52.

In this way, since this robot is fixed to the driver's seat 50 already installed in the automobile, there is no need to take the trouble of fixing a surface plate to the automobile in order to fix the robot. Since almost the entire side surface of the driver's seat 50 faces the entrance/exit of the automobile, the workability of carrying in, placing, and fixing the robot on the driver's seat 50 is extremely good. It is possible to easily perform these tasks in a timely manner.

As described above, when the fixation to the driver's seat 50 is completed, the screw shaft 5 is rotated using the knob 5a, the main body 2 is slid, and its position is adjusted appropriately. Next, by rotating the adjustment screw shaft 34a, the adjustment @#32a is moved to slide the actuator 18 in the horizontal direction together with the mounting member 26a, and by rotating the adjustment bolt 30a, the angle of the actuator 18 is adjusted, and the sensor The position and angle of the actuator 18 are adjusted to a position suitable for pressing an accelerator pedal (not shown) at 18a. Similarly, the adjustment screw shaft 34b.

34C and adjustment poles 1-30b and 30c, the position and angle of the actuator 19 are adjusted, and the sensor 19a is used to adjust the position and angle of the brake pedal (not shown), and the position and angle of the actuator 20 are adjusted. sensor 20a
to make the clutch pedal (not shown) suitable for each press.

Then, the arm 3 of the shift lever actuator 35
6, and hold the tip of the shift lever (not shown) with holding #37, and control the actuator 35 to transmit data necessary for operating the shift lever, such as the moving direction and range of the shift lever 36. input into the device (not shown). Further, data required for operating each pedal is also input to each control device (not shown) of the actuators 18, 19, and 20.

In this way, each rotation of the adjustment bolts 30a, 30b, 30c and the adjustment R screw shafts 34a, 34b, 34c moves the actuators 18, 19, 20 separately to adjust their positions and angles. Because I can do it,
Even if the installation and spacing of each pedal is different due to changes in the type of car etc., one actuator is attached to each pedal.
It is possible to adapt each of 8.19.20.

Further, this robot is installed on the driver's seat 50. The paraphrase is placed in the same position as when a human is driving the vehicle. Furthermore, the actuators 18 and 19 of this embodiment
．． 20, as shown in FIG. 6, is an arm 2 that is slid inside and along a support member 21 made of a square pipe.
Since the arm 22 moves linearly in substantially the same direction as the direction of movement of the pedals, each pedal can be moved extremely smoothly. Moreover, since the structure is simple, it is compact, and the position and angle can be adjusted smoothly.

Although the robot of this embodiment is capable of adjusting the position and angle of the main body 2, these adjustments can also be absorbed by adjusting the actuators 18, 19, and 20, so that the main body 2 can be adjusted. can also be fixedly attached to the base 1.

Although the robot of this embodiment is provided with an actuator 20 for a taratch control, the actuator 20 may not be provided in the case of an automatic vehicle. However, it is also possible to use the robot of this embodiment in an automatic vehicle, in which case the actuator 20 is not used.

The flaps 41a and 41b can be locked to any object for fixation, such as by locking their lower ends to the rail 53 of the driver's seat 1-50. Furthermore, the means for rotating the flaps 41a, 41b using the operating screw shaft 45 is also optional. That is, the flaps 41a, 4
1b may be provided so as to be capable of holding the seat portion 51 therebetween and separating it from the seat portion 51. Therefore, for example, the flaps 41a and 41b may be attached to the base 1 at ports 1 to 1, and the bolts may be tightened or loosened to press the flaps 41a and 41b into contact with the seat portion 51 or to separate them therefrom. It is.

0 FIG. 12 shows a second embodiment.

This robot has a support member 15 provided at the end of the base 1.
Flaps 55 are pivotally attached to both side edges of the driver's seat 50 for clamping the backrest 52 of the driver's seat 50 from both sides and fixing the support member 15 to the backrest 52. These flaps 55 are rotated by the rotation of the operating screw shaft 56 and press against both sides of the backrest 52 to clamp it or separate it from the backrest 52.

In order to make the robot more stable, the driver's seat 5
It can be fixed to 0.

In addition, this flap 55 and the operation screw shaft 56 that operates it 411! Since the rotation of the flaps 41a and 41b by the operating screw shaft 45 can be made the same as in the first embodiment, detailed illustrations and explanations of the structure are omitted. Further, since other elliptical precepts are the same as those in the first embodiment, they are indicated by the same reference numerals.

FIG. 13 shows a third embodiment.

In the robot of this embodiment, the end of the base (2) opposite to the end where the support member 15 is provided is curved in an arc shape so that it can be locked to the front end of the seat 51 of the driver's seat 50. Locking plate 5
7 is mounted on the shaft, and this gA mounting plate 57 is operated by a screw shaft 58.
It is rotated by the rotation of.

The configuration in which the engagement plate 57 is rotated by the operating screw shaft 58 is similar to that of the flap 4 by the operating screw shaft 45 in the first embodiment.
1a and 41b, detailed illustrations and explanations of the structure are omitted. Further, since the other configurations are the same as those of the first embodiment, they are indicated by the same reference numerals.

This robot places the base 1 on the seat 51 by rotating the locking plate 57 by rotation of the operating screw shaft 58 so that it does not hit the seat 51. Then, the locking plate 57 is rotated by the rotation of the operating screw shaft 58 and is locked to the lower front surface of the seat 51, thereby fixing the base 1 to the seat 51.

FIG. 14 is a fourth example of actual kneeling.

Similar to the third embodiment, this robot has a stop plate 59 that is attached to the end of the base 1 from the front end of the seat 51 to the lower surface.
Or it is mounted on a shaft. Reference numeral 60 denotes a telescopic press device, such as a jack, which is inserted between the lower side of the seat portion 51 and the floor surface 61 to press the locking plate 59 into contact with the lower surface of the seat portion 51 .

Since the other sides are the same as those of the first embodiment, they are indicated by the same reference numerals.

This robot fixes the base 1 to the seat 51 by pressing the locking plate 59 against the seat 51 with the telescopic pressure device 60, so the base 1 does not move in the left-right direction of the seat 51. ,
It is also possible to prevent the main body 2 from moving toward the backrest 52 when a pedal is pressed on each of the actuators 18, 19, 20.

In the past, if the support member 15, bolts 16a, 16b, and operating nut 17 were provided as in this embodiment, the robot could be fixed more stably. Even without it, the robot can be fixed stably.

FIG. 15 does not show the fifth embodiment.

In the robot of this embodiment, as in the first embodiment, legs 62a and 62b are pivoted on both sides of a base 1, and an operation screw 3 and a shaft 63 for rotating these legs 62a and 62b are provided. It has been established. And the leg body 62
a and 62b have a length that touches the floor of the automobile when the base 1 is slightly lifted from the seat 51, and are connected to the lower side of the rail 53 of the driver's seat 50. The large pieces 64a and 64b are protruding.

Since the rotation of the legs 62a, 62b by the operation screw shaft 63 can be made the same as the rotation of the flaps 41a, 41b by the operation screw shaft 45 in the first embodiment, the detailed structure can be changed. Illustrations and explanations have been omitted. Also,
Since the other configurations are the same as the first one, they are indicated by the same reference numerals.

This robot is suspended by a hanging device and positioned at an appropriate height on the seat 51, and the legs 62a and 62b are rotated by the rotation of the operating screw shaft 63, and the legs 62a and 62b are moved. The locking pieces 64a and 64b are locked to the lower side of the rails 53 and 53. After that, the legs 62a and 62b are attached to the floor surface 6.
1.

Therefore, the height of the robot can be set by the heights of the legs 62a, 62b. When the pedals of the actuators 18, 19, 20 are pressed, the locking pieces 64a, 64b that lock the rails 53, 53Gm prevent the main body 2 from falling down. It becomes unnecessary to provide the support member 15, the bolts 16a, 16b, and the operating nut 17 in the embodiment. In addition, the support member 15 and bolts 16a, 16b of this first embodiment and the operating lug N7 are provided, and the locking piece 64 is
a.

It is also possible not to provide 64b.

FIG. 16 shows the sixth embodiment.

This robot I. has a support arm 65 rotatably attached to the main body 2 as a fixing means, and a locking body 66 that is locked to a steering wheel 67 of an automobile is provided at the tip of the support arm 65. Locking and separating the locking body 66 from the handle 67 rotates the support arm 65. Although not shown in the drawings, the interval between the main body 2 and the locking body 66 can be adjusted by dividing the support arm 65 into two parts, forming a reverse thread at each end thereof, and adjusting the distance between the support arm 65 and the locking body 66. It is optional, for example, to connect the parts with a pipe-shaped nut so that rotation of this nut changes the length of the support arm screwed into it.

(Effects of the Invention) As described above, the car driving robot on the chassis dynamo of the present invention has a main body attached to the base, and this main body has actuators and shift levers corresponding to each pedal. An actuator is attached. Then, the main body together with the base is positioned on the driver's seat and fixed to the driver's seat, a steering wheel, or other automobile structure.

In this way, this robot is fixed to the driver's seat and steering wheel already installed in the car.
There is no need to take the trouble of fixing a surface plate to the floor to secure the robot, and there is also no need to modify the vehicle body.

Since almost the entire driver's seat faces the entrance and exit of the car, and the seat has an appropriate height, it is difficult to carry and place the robot on the driver's seat. The workability of fixing is extremely good, and the mounting position of the robot is almost determined by the driver's seat.
There is no need to specially set the robot mounting position, and the robot can be easily fixed in a substantially fixed position in a short time. Further, the change ms of the position of the driver's seat can also be utilized for fixing the robots 1 to 1.

Furthermore, each of the actuators for the pedals is capable of sliding in the direction in which they are lined up and swinging in the vertical direction, and each actuator is provided with position adjustment means for sliding it, and swinging in the downward direction. An angle adjusting means for adjusting the angle is provided. Therefore, the position and angle of each pedal actuator can be adjusted according to each pedal, making it easier to set the position when fixing the robot on the driver's seat, and Even if the position and spacing of each pedal differs due to changes in type and type, each actuator can be easily associated with each pedal, and can be used for driving virtually any vehicle.

Also, take this robot l-↓ and put it in the driver's seat L. In other words, although the vehicle is installed and operated in the same position as when a human is driving, the direction in which each pedal is operated by the pedal companion actuator is almost the same as the direction when a human operates each pedal, Since the movement directions of the pedal and the actuator are substantially the same, each pedal can be smoothly operated by the pedal actuator.

Front view, Figure 2 is a rear view, Figure 3 is a plan view, Figures 4 and 5 are
The figures are partially enlarged front views of the connecting part between the base and the main body at different positions, Fig. 6 is a partially enlarged sectional view of the pedal actuator, and Fig. 7 is a front view of the mounting part of the pedal actuator. Figure 8 is a plan view of the mounting part of the pedal actuator;
FIG. 9 is a front view of an enlarged cross-sectional view of the lever actuator holder; FIG. 13 is a front view of the third embodiment;
FIG. 14 is a front view of the fourth embodiment, FIG. 15 is a front view of the fifth embodiment, FIG. 16 is a front view of the sixth embodiment, and FIG. 17 is a plan view of the eighth embodiment.

to base, 2: Main body, 18.19.20+actuue 50: Driver Seat 1~.

Claims (1)

[Claims] The main body is mounted on a base that is positioned on the driver's seat, and the base or the main body is provided with fixing means for securing it to the vehicle structure, and a fixing means is provided on the base or the main body for fixing it to the vehicle structure, and a fixing means is provided for each of the pedals. A plurality of actuators each operated separately are provided on the main body so as to be slidable in the direction in which they are lined up and swingable in the vertical direction,
Each of the plurality of actuators is provided with a position adjustment means for adjusting the position in the direction in which they are lined up, and an angle adjustment means for adjusting the angle in the vertical direction. A robot for driving a car on a chassis dynamo, wherein the main body is provided with an actuator for a shift lever that moves in the direction of.