WO2022172664A1 - Actionneur de pédale pour dispositif de conduite automatique de véhicule - Google Patents

Actionneur de pédale pour dispositif de conduite automatique de véhicule Download PDF

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Publication number
WO2022172664A1
WO2022172664A1 PCT/JP2022/000509 JP2022000509W WO2022172664A1 WO 2022172664 A1 WO2022172664 A1 WO 2022172664A1 JP 2022000509 W JP2022000509 W JP 2022000509W WO 2022172664 A1 WO2022172664 A1 WO 2022172664A1
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WO
WIPO (PCT)
Prior art keywords
pedal
actuator
actuator housing
vehicle
link arm
Prior art date
Application number
PCT/JP2022/000509
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English (en)
Japanese (ja)
Inventor
安紀彦 兒玉
伸夫 岡▲崎▼
Original Assignee
株式会社明電舎
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社明電舎 filed Critical 株式会社明電舎
Publication of WO2022172664A1 publication Critical patent/WO2022172664A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

Definitions

  • the present invention relates to an automatic vehicle driving device that performs driving operations on behalf of the driver when running a vehicle running test on a chassis dynamometer, for example, and more particularly to a pedal actuator that operates a pedal such as a clutch pedal.
  • an automatic vehicle driving device that is mounted on a vehicle and performs shift lever operation and pedal operation when conducting a running test of the vehicle on a chassis dynamometer.
  • the automatic vehicle driving system In order to operate the pedals necessary for driving, the automatic vehicle driving system generally includes a plurality of pedal actuators extending from the main body of the automatic vehicle driving system mounted on the driver's seat of the vehicle toward the pedals.
  • the pedal actuator presses the pedal by means of an actuator rod that moves linearly back and forth through a pinion and rack mechanism.
  • an actuator rod that moves linearly back and forth through a pinion and rack mechanism.
  • a clutch pedal actuator is supported by a base end of the actuator as a fulcrum so as to be able to swing up and down, and a connecting plate or a plate is swingably attached to the tip of the actuator rod.
  • a clamp is attached, and this connection plate or clamp is overlapped with the pedal and fastened.
  • a pedal actuator for an automatic vehicle driving system includes: a bracket supported on the front end of the frame located in the driver's seat of the vehicle; a link arm which is swingably connected to the bracket so that one end has a first rotation center axis along the vehicle width direction, and whose swing angle is fixed by tightening a screw member; an actuator housing swingably supported at the other end of the link arm so as to have a second rotation center axis parallel to the first rotation center axis and extending forward of the vehicle; a stopper mechanism for restricting the swinging motion of the actuator housing with respect to the link arm within a predetermined angle range corresponding to changes in the posture of the pedal to be operated; an actuator rod that protrudes from a distal end portion of the actuator housing, advances and retreats along the longitudinal direction of the actuator housing, and has a distal end that contacts the pedal; It has
  • the tip of the actuator rod is simply used in contact with the pedal, and there is no need to connect and fix it with a clamp or the like.
  • the actuator rod swings together with the actuator housing within a predetermined angle range restricted by the stopper mechanism to follow the vertical displacement of the pedal surface.
  • a shaft member along the second rotation center axis is positioned at the other end of the link arm, and the shaft member is rotatably supported by the actuator housing.
  • the stopper mechanism is provided so as to restrict the relative rotation between the two within a predetermined angular range.
  • the link arm has first and second shaft connecting portions each having a substantially C-shaped cylindrical shape at each end, and a rod portion between the two shaft connecting portions is divided into two.
  • first and second shaft connecting portions each having a substantially C-shaped cylindrical shape at each end, and a rod portion between the two shaft connecting portions is divided into two.
  • the structure can be simplified.
  • the second shaft member is fitted to the bearing portion of the actuator housing, first and second engagement portions having complementary uneven shapes that mesh with each other are formed on the opening edge of the bearing portion and the flange portion of the second shaft member facing the opening edge, A gap corresponding to a predetermined angle range is provided as the stopper mechanism between the meshing surfaces of the first and second engaging portions.
  • the stopper mechanism holds the actuator rod and the actuator housing at the lowest position when the pedal is at the non-depressed position.
  • the pedal surface is displaced upward as the pedal is stepped on. Since the stopper mechanism holds the actuator housing at the lowest position, installation and position adjustment of the pedal actuator in the vehicle interior are simplified.
  • FIG. 3 is a left side view showing the pedal actuator of one embodiment together with the pedal; The right side view of the same. Bottom view of the same. The perspective view which expanded and showed the principal part. The perspective view which showed the state which combined the slide bracket with the rocking pin.
  • FIG. 3 is an exploded perspective view of a slide bracket and a swing pin; The front view which similarly looked at the slide bracket and rocking pin of the disassembled state from the front.
  • FIG. 4 is an explanatory view showing swinging of a pedal actuator accompanying pedal operation;
  • FIGS. 1 to 4 show a pedal actuator 1 of an automatic vehicle driving system, which is mounted in the driver's seat of a vehicle and performs driving operation when conducting a running test of the vehicle on a chassis dynamometer, together with a pedal 11 to be operated.
  • an automatic vehicle driving system for a vehicle equipped with a manual transmission includes an accelerator pedal actuator, a brake pedal actuator, and a clutch pedal actuator.
  • the illustrated pedal actuator 1 is suitable as a clutch pedal actuator or a brake pedal actuator in which the swinging change of the pedal due to the stepping operation is relatively large. Of course, it may be used as a pedal actuator for an accelerator pedal.
  • the pedal actuator 1 of this embodiment is used in combination with, for example, an automatic vehicle driving system disclosed in International Publication No. 2020/196264. omitted.
  • an automatic vehicle driving system disclosed in International Publication No. 2020/196264.
  • the structure of the automatic vehicle driving system other than the pedal actuator is not the main part of the present invention, so the pedal actuator of the present invention can be used in combination with any structure of the automatic vehicle driving system.
  • the pedal actuator 1 is a pinion-rack type linear motion actuator, and includes a rack shaft 2 serving as an actuator rod, an elongated actuator housing 3 that slidably supports and accommodates the rack shaft 2, and the actuator housing 3. and a motor housing 4 attached to the side surface of the tip portion, in which the speed reducer and the electric motor are accommodated.
  • the actuator housing 3 has an elongated box shape with a rectangular cross section, and a rod-shaped rack shaft 2 with a circular cross section protrudes from the front end of the actuator housing 3 .
  • the rack shaft 2 advances and retreats along the longitudinal direction of the actuator housing 3 , and a columnar rubber pressing member 8 attached to the tip abuts against the pedal 11 .
  • the actuator housing 3 is supported by the pedal actuator support bracket 5 via the link arm 6 and the slide bracket 7 as will be described later.
  • the pedal actuator support bracket 5 is supported on the front end of the frame of the automatic vehicle driving system (not shown), thereby supporting the entire pedal actuator 1 on the frame.
  • the configuration of the frame side to which the pedal actuator support bracket 5 is connected is disclosed in International Publication No. 2020/196264.
  • the frame of the automatic vehicle driving system is mounted on the driver's seat of the vehicle, and the pedal actuator support bracket 5 is positioned relatively higher than the pedals 11. Therefore, when the vehicle is mounted, the pedal actuator 1 is mounted on a rack as shown in FIG. The tip of the shaft 2 is slanted downward.
  • the slide bracket 7 supports the actuator housing 3 on the lower surface side of the actuator housing 3 so as to be slidable back and forth.
  • the slide bracket 7 is provided with fixing screws 13 for fixing the slidably positioned actuator housing 3 to the slide bracket 7 . That is, a guide slit 14 extending along the axial direction (front-rear direction) of the pedal actuator 1 is formed in the lower surface of the actuator housing 3, and the shaft portion of the fixing screw 13 passes through the guide slit 14. 3 screwed to an inner pad (not shown). Therefore, when the fixing screw 13 is loosened, the pad is loosened and the slide bracket 7 and the actuator housing 3 can be slid relatively.
  • the fixing screw 13 When the fixing screw 13 is tightened, the inner pad and the outer slide bracket 7 press the side edge of the guide slit 14 of the actuator housing 3 , thereby fixing the actuator housing 3 to the slide bracket 7 .
  • the fixing screw 13 has an L-shaped lever portion on its head, and can be tightened with fingers. Therefore, the longitudinal position of the actuator housing 3 can be easily adjusted according to the position of the pedal 11 in the vehicle.
  • the slide bracket 7 has a through hole 15 through which the fixing screw 13 passes, and a guide projection 16 slidably engaged with the guide slit 14 on its upper surface.
  • a cylindrical bearing portion 21 is formed at the rear end portion of the slide bracket 7 and a swing pin 22 is inserted into the bearing portion 21 . That is, as shown in FIGS. 6 and 7, the swing pin 22 has a first shaft portion 23 rotatably fitted to the inner circumference of the bearing portion 21 and a second shaft portion 23 projecting sideways from the slide bracket 7 . It includes two shaft portions 24 and a relatively large-diameter flange portion 25 positioned between the first shaft portion 23 and the second shaft portion 24, which are concentrically arranged.
  • An annular wall 26 having an outer diameter substantially equal to that of the flange portion 25 is formed at the opening edge of the bearing portion 21, and the annular wall 26 and the flange portion 25 face each other in the axial direction.
  • a first engaging portion 27 and a second engaging portion 28 having complementary uneven shapes that mesh with each other are provided. That is, the first engaging portion 27 in the annular wall 26 has a pair of convex portions 27a projecting in the axial direction and a pair of concave portions 27b relatively receding, and the flange portion
  • the second engaging portion 28 at 25 includes a pair of projections 28a projecting in the axial direction and a pair of recesses 28b relatively retreating.
  • the first engaging portion 27 and the second engaging portion 28 mesh with each other to constitute a kind of coupling capable of transmitting torque.
  • a small gap 29 (see FIG. 5) corresponding to a predetermined angular range that allows rocking is provided in the meshing surfaces of the convex portions 27a, 28a and the recessed portions 27b, 28b that mesh with each other.
  • a gap 29 is provided so that the first engaging portion 27 and the second engaging portion 28, which form a coupling, can rotate relative to each other by 4 degrees. That is, the rocking pin 22 and the slide bracket 7 are basically connected to be rockable, but the engagement of the first and second engaging portions 27, 28 having the gap 29 on the meshing surfaces functions as a stopper mechanism.
  • the swinging of the slide bracket 7 is restricted within a predetermined angle range.
  • said 4 degrees is an example, and this invention is not limited to this. However, it is usually a relatively small angle of 10° or less. This angle is appropriately set in accordance with the change in posture of the pedal 11 to be operated, as will be described later.
  • the slide bracket 7 and the pedal actuator support bracket 5 are connected to each other via the link arm 6 so that the three can swing (angle can be adjusted).
  • the link arm 6 has first and second shaft connecting portions 31 and 32 each having a substantially C-shaped cylindrical shape at each end, and a rod portion 33 between them is divided into two (half-divided). It is a connection member formed. Strictly speaking, the pair of cylindrical shaft connecting portions 31 and 32 are separated along the radial line so as to form a substantially C shape, and each of the upper and lower pieces of the rod portion 33 divided into two. is continuous with A fixing screw 34 is provided in the center of the rod portion 33 so as to tighten the ends of the substantially C-shaped rod portion 33 in the diametrical direction.
  • the fixing screw 34 like the fixing screw 13 of the slide bracket 7, has an L-shaped lever portion for tightening with fingers.
  • the first shaft connecting portion 31 of the link arm 6 is fitted to a support pin 36 fixedly provided on the pedal actuator support bracket 5 .
  • the first shaft connecting portion 31 and the support pin 36 are in a rotatable relationship when they are not tightened by the fixing screw 34 .
  • the second shaft connecting portion 32 of the link arm 6 is fitted to the second shaft portion 24 of the swing pin 22 described above. In a state in which the fixing screw 34 is not tightened, the second shaft connecting portion 32 and the swing pin 22 are in a rotatable relationship.
  • the former rotation center axis (first rotation center axis) of the support pin 36 extends along the width direction of the vehicle.
  • the latter rotation center axis (second rotation center axis) by the swing pin 22 also extends along the vehicle width direction, and the two rotation center axes are parallel to each other.
  • the actuator housing 3 is attached to the first portion of the swing pin 22 fitted in the bearing portion 21 of the slide bracket 7 . It can swing around the shaft portion 23, and its swing range is restricted to a relatively small predetermined angular range determined by the stopper mechanism (gap 29).
  • FIG. 8 is an explanatory diagram showing swinging of the pedal actuator 1 accompanying pedal operation.
  • the pedal 11 swings toward the front of the vehicle around the fulcrum 42 at the upper end of the arm 41, so that the surface 11a of the pedal 11 with which the tip of the rack shaft 2 abuts is displaced upward as the pedal 11 is stepped on. do.
  • the pedal actuator 1 When installed in a vehicle, the pedal actuator 1 is positioned relative to the pedal 11 in the most lowered state that is regulated by the stopper mechanism described above. Thereafter, when the rack shaft 2 of the pedal actuator 1 moves forward and the pedal 11 is stepped on during the test, the surface 11a of the pedal 11 is displaced upward, and the actuator housing 3 swings upward accordingly.
  • the angle at which the actuator housing 3 and the rack shaft 2 can swing is determined by the stopper mechanism (gap 29) as described above, and is, for example, 4°.
  • the rack shaft 2 can push the pedal 11 while absorbing the vertical displacement of the pedal 11 . Therefore, there is no need to fix the tip of the rack shaft 2 to the pedal 11 with a clamp or the like, which facilitates installation of the pedal actuator 1 in the vehicle and replacement of the test vehicle.
  • the slide bracket 7 or the swing pin 22, which defines the swingable angle range is prepared in advance so that the gap 29 has a different size, and is appropriately exchanged according to the vehicle type. may be used.
  • the present invention is not limited to the above embodiment, and various modifications are possible.
  • the two shaft members (the support pin 36 and the swing pin 22) are simultaneously fixed to the link arm 6 by the single fixing screw 13 of the link arm 6.
  • the structure which provided the screw member may be sufficient.
  • a structure in which a shaft member corresponding to the swing pin 22 is previously fixed to the link arm 6 may be used.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Control Devices (AREA)

Abstract

Dans la présente invention, un axe de pivotement (22) est monté de façon pivotante sur une partie palier (21) d'un support de coulissement (7) qui supporte un boîtier d'actionneur (3). Une première partie de mise en prise (27) située sur la partie palier (21) et une deuxième partie de mise en prise (28) située du côté de l'axe de pivotement (22) forment des profils renfoncés/saillants complémentaires et viennent en prise l'une avec l'autre. Un espace (29) est disposé sur la surface de mise en prise de la première partie de mise en prise (27) et de la deuxième partie de mise en prise (28) de façon à permettre une rotation relative d'un angle spécifié. En conséquence, un actionneur de pédale (1) pivote lorsque la position d'une pédale (11) change, et une extrémité d'un arbre de crémaillère (2) suit la pédale (11). Il n'est plus nécessaire d'utiliser un dispositif de blocage pour fixer l'extrémité de l'arbre de crémaillère (2) à la pédale (11).
PCT/JP2022/000509 2021-02-12 2022-01-11 Actionneur de pédale pour dispositif de conduite automatique de véhicule WO2022172664A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-020357 2021-02-12
JP2021020357A JP7067644B1 (ja) 2021-02-12 2021-02-12 車両自動運転装置のペダルアクチュエータ

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WO2022172664A1 true WO2022172664A1 (fr) 2022-08-18

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0843266A (ja) * 1994-08-02 1996-02-16 Nissan Motor Co Ltd 車両の自動運転装置
JPH11237318A (ja) * 1998-02-20 1999-08-31 Nissan Motor Co Ltd 自動車のペダル操作用アクチュエータ
JP2006250880A (ja) * 2005-03-14 2006-09-21 Horiba Ltd 車両自動運転装置
JP2010164314A (ja) * 2009-01-13 2010-07-29 Akebono Brake Ind Co Ltd 制動支援装置の安全装置
CN111220396A (zh) * 2020-04-23 2020-06-02 中汽研汽车检验中心(宁波)有限公司 一种室内转毂试验的自动驾驶机器人
JP2020159757A (ja) * 2019-03-25 2020-10-01 株式会社明電舎 車両自動運転装置のペダルアクチュエータ

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0843266A (ja) * 1994-08-02 1996-02-16 Nissan Motor Co Ltd 車両の自動運転装置
JPH11237318A (ja) * 1998-02-20 1999-08-31 Nissan Motor Co Ltd 自動車のペダル操作用アクチュエータ
JP2006250880A (ja) * 2005-03-14 2006-09-21 Horiba Ltd 車両自動運転装置
JP2010164314A (ja) * 2009-01-13 2010-07-29 Akebono Brake Ind Co Ltd 制動支援装置の安全装置
JP2020159757A (ja) * 2019-03-25 2020-10-01 株式会社明電舎 車両自動運転装置のペダルアクチュエータ
CN111220396A (zh) * 2020-04-23 2020-06-02 中汽研汽车检验中心(宁波)有限公司 一种室内转毂试验的自动驾驶机器人

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JP2022123200A (ja) 2022-08-24
JP7067644B1 (ja) 2022-05-16

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