CN102384850A - Gear shift manipulator used in automobile test - Google Patents

Abstract

The invention belongs to the technical field of automatic driving devices for automobile testing, and relates to a shift manipulator for automobile testing, including a gear selection motor, a gear shift motor, a gear selection shaft, a gear shift shaft, a boom I, a boom II, a boom III, Forearm I, forearm II, two L-shaped adjustment arms, wrist connecting rod, elbow joint and shift lever sleeve, elbow joint including elbow joint shaft I, elbow joint shaft II, elbow joint shaft bracket I, elbow joint Shaft bracket II and pin shaft, elbow joint shaft I is movably connected with elbow joint shaft bracket I and elbow joint shaft bracket II, elbow joint shaft bracket I is respectively connected with the upper part of big arm I and big arm II through pin shaft, elbow joint shaft Bracket II is connected to the upper part of arm III through a pin shaft, elbow joint shaft II is movably connected to elbow joint shaft support I, and the shift lever sleeve is respectively connected to two L-shaped adjustment arms through a wrist connecting rod. The two motion processes of gear selection and gear shifting in the invention do not interfere with each other, realize the decoupling of the gear shifting action, and have the advantage of convenient control.

Description

A shift manipulator for automobile test

technical field

The invention relates to an electric driving device capable of replacing human drivers in automobile tests. The invention belongs to the technical field of automatic driving devices for automobile testing.

Background technique

In recent years, the rapid growth of car ownership has led to the gradual emergence of pollution problems caused by harmful substances in car exhaust. For this reason, the state promulgated and implemented strict vehicle emission standards to limit the content of harmful substances in exhaust gas. The durability cycle test takes a long time. During the test, the accuracy and repeatability of vehicle speed tracking depend on the driving skills and reaction speed of the test personnel, and the cycle speed is constantly changing. The test requires that the vehicle speed error must be controlled within 2km/h , thus reducing the reliability of the emission test data. The noise from the dynamometer equipment, the pollution of the air environment by the exhaust gas emitted by the vehicle, and the long-term boring driving will all cause certain damage to the driver. Therefore, it is necessary to use a car test driving robot to replace the human driver for the test. The use of the car test driving robot can ensure the objectivity and accuracy of the test data, reduce the fatigue of the driver, and reduce the damage to the test personnel in the harsh environment. In addition, the application of automobile driving robots to the emission durability test can also shorten the test time, greatly reduce the test cost and improve the test efficiency.

The development of automobile testing in foreign countries started earlier, and the robotic technology data of foreign companies are kept secret and not disclosed to the public. The companies that develop this type of robot mainly include ONOSOKKI, AUTOPILOT, HORIBA and other companies in Japan, LBECO in the United States, MIRA, Froude Consine, Anthony Best Dynamics in the United Kingdom and other companies.

Domestic patent No. 200410065844.0 describes the driving robot. It utilizes a stepping motor to control the accelerator to realize precise positioning of the accelerator position. Brakes, clutches, and shifting manipulators use cylinders as power sources, and achieve fast actions through corresponding air valve adjustments. Due to the high compressibility of gas, precise control of velocity and position is difficult, and the damping effect is not ideal. The on-site robot control computer controls the motor and the cylinder to complete the coordination between the driving action and the sequence according to the driving action requirements. The throttle mechanical leg of the robot is only driven by electricity. During the test, the vehicle is driving at a certain speed. If the power is suddenly interrupted due to some factors, the throttle mechanical leg of the driving robot will stay at the current position and cannot Automatic recovery lifts the accelerator pedal, which poses a certain safety hazard to the vehicle and test personnel.

The actuators of the car test driving robot usually include accelerator mechanical legs, brake mechanical legs, clutch mechanical legs, and shifting mechanical arms. Automobile test driving robots are divided into three types according to their driving methods, including three basic types: hydraulic drive, pneumatic drive and motor drive. The disadvantage of hydraulic drive is that it has high requirements for the sealing of hydraulic oil components. If it leaks, it will cause environmental pollution, complex pipeline structure, and high maintenance requirements; pneumatic drive has high gas compressibility, and it is difficult to accurately control the speed and position. Damping effect Difference. Motor drives can be divided into ordinary AC and DC motors and servo motors. Ordinary AC and DC motors have poor control performance, large inertia, and are not easy to locate accurately; servo motors are small in size, good in control performance, and strong in control flexibility. precise control.

The mechanical transmission form of the traditional car test driving robot shifting manipulator can be the rack and pinion type. The advantage of this form is accurate positioning, but the disadvantage is that the structure is complex, the stroke of the rack is large, and the size of the whole machine is large; the angle control two-force lever The advantage is that the structure is simple and maintenance-free, but the control is complicated.

Contents of the invention

Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a gearshift manipulator that can be applied to an electric driving robot device that can replace a human driver and carry out automobile tests, especially durability tests. The utility model can adapt to vehicles of different types and different shifting forms, and is installed in the driver's compartment without modifying the vehicles.

The technical scheme of the present invention is: a kind of gear shift manipulator for automobile test, comprises gear selection motor, gear shift motor, gear selection shaft driven by gear selection motor, gear shift shaft driven by gear shift motor, big arm 1, large Arm II, large arm III, small arm I, small arm II, two L-shaped adjustment arms, wrist connecting rod, elbow joint and shift lever sleeve, the elbow joint includes elbow joint axis I, elbow joint axis II. Elbow joint shaft support I, elbow joint shaft support II and pin shaft, elbow joint shaft I is movably connected with elbow joint shaft support I and elbow joint shaft support II, and elbow joint shaft support I is respectively connected to the upper arm I and the arm through the pin shaft. The upper part of the big arm II is connected, the elbow joint shaft bracket II is connected with the upper part of the big arm III through the pin shaft, the elbow joint shaft II is movably connected with the elbow joint shaft support I; the gear selection shaft is connected with the lower part of the big arm III through the pin shaft, The lower parts of the upper arm I and the upper arm II are connected to the shift shaft through pin shafts; one end of the small arm I and the lower arm II is respectively locked and connected with the elbow joint shaft II and the elbow joint shaft I, and the other end is connected with two L-shaped adjustment shafts respectively. The arms are connected, and the shift lever sleeve is respectively connected with the two L-shaped adjustment arms through the wrist connecting rod.

As a preferred embodiment, the shift manipulator for automobile test includes an angular displacement sensor used to obtain the motion position of the sleeve, and its output is used to control the shifting action; the gear selection motor is connected with its reducer, and the output shaft of the reducer passes through The coupling is connected to the gear selection shaft; the gear shifting motor is connected to its reducer, and the output shaft of the reducer is connected to the gear shifting shaft through a coupling; the two L-shaped adjusting arms are provided with positions for changing the overall length of the small arm Adjustment hole: An adjustment hole for adjusting the position of the shift lever sleeve is provided on the wrist connecting rod.

The gear shifting manipulator of the present invention adopts the manner of vertically placing the servo motor, one drives the mechanical arm to move left or right to complete the gear selection action; the other drives the mechanical arm to move forward or backward to complete the gear shifting action. The two motion processes of gear selection and gear shifting do not interfere with each other, realizing the decoupling of gear shifting action and convenient control. Moreover, the invention is driven by a servo motor, has a large starting torque, a wide operating range, and low vibration; has high response speed, precision and frequency; and has excellent control characteristics. Moreover, the present invention has the advantages of compact structure, easy installation and maintenance.

Description of drawings

Fig. 1 is a side view of the complete machine of the present invention.

Fig. 2 is the front view of the whole machine of the present invention.

Fig. 3 is a top view of the whole machine of the present invention.

Fig. 4 is a side view of the clutch mechanical leg drive unit.

Fig. 5 is a top view of the drive unit of the mechanical leg of the brake.

Fig. 6 is a top view of the accelerator mechanical leg drive unit.

Fig. 7 is a front view of the shift manipulator.

Fig. 8 is a left side view of the shift manipulator.

Fig. 9 is a top view of the shift manipulator.

Fig. 10 is a right side view of the shift manipulator.

Figure 11 is a top view of the clutch mechanical leg.

Figure 12 is a top view of the mechanical leg of the brake.

Figure 13 is a top view of the throttle mechanical leg.

It includes: the fixed base plate 1 of the whole machine, the rotating base plate 2, the rotating shaft 3, the adjusting bolt 4, the extension end of the clutch mechanical leg drive unit 5, the non-rotating part of the spherical universal joint 6, the bearing seat 7, the linear displacement sensor 8, and the pin shaft 9. Small pulley 10, reducer fixed bracket 11, compression spring 12, drive rod 13, drive rod seat 14, servo motor 15, reducer 16, large pulley 17, bushing 18, bearing 19, brake mechanical leg drive unit extension Outlet 20, spherical universal joint non-rotating part 21, bearing seat 22, bushing 23, large pulley 24, pin shaft 25, small pulley 26, reducer fixing bracket 27, reducer 28, servo motor 29, drive rod seat 30, drive rod 31, compression spring 32, linear displacement sensor 33, bearing 34, extension end of throttle mechanical leg drive unit 35, spherical universal joint non-rotating part 36, bearing seat 37, shaft sleeve 38, large pulley 39, deceleration Machine fixed bracket 40, reducer 41, servo motor 42, drive rod seat 43 compression spring 44, drive rod 45, linear displacement sensor 46, small pulley 47, pin shaft 48, bearing 49, clutch mechanical leg outer tube 50, lock Ring 51, clutch pedal clip 52, spherical universal joint 53, inner tube of clutch mechanical leg 54, bearing 55, manipulator base 56, gear selection motor 57, gear shift shaft 58, bearing 59, coupling 60, gear shift motor Reducer 61, shift motor 62, large arm I 63, elbow joint shaft II 64, elbow joint shaft I 65, large arm II 66, small arm I 67, L-shaped adjustment arm I 68, shift lever sleeve 69, L-shaped Adjusting arm II70, small arm II71, bearing 72, gear selection shaft 73, coupling 74, gear selection motor reducer 75, wrist connecting rod I 76, wrist connecting rod II77, large arm III78, elbow joint shaft bracket I 79, elbow joint shaft bracket II80, pin shaft 81, angular displacement sensor 82, brake mechanical leg outer tube 83, locking ring 84, brake pedal clip 85, spherical universal joint 86, brake mechanical leg inner tube 87, Accelerator mechanical leg outer tube 88, locking ring 89, accelerator pedal clip 90, spherical universal joint 91, throttle mechanical leg inner tube 92.

Detailed ways

In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

Please refer to Fig. 1～Fig. 3, the driving robot that adopts the shift manipulator of the present invention belongs to a kind of pulley type driving robot, comprises robot base 1, is placed on the driver's seat, and clutch mechanical leg drive unit protruding end 5 inserts clutch In the mechanical leg outer tube 50, the clutch pedal clip 52 is connected with the clutch pedal, the brake mechanical leg drive unit extending end 20 is inserted into the brake mechanical leg outer tube 82, the brake pedal clamp 84 is connected with the brake pedal, and the accelerator mechanical leg drive unit extends End protruding end 35 inserts in the throttle mechanical leg outer pipe 87, and the throttle mechanical leg pedal clip 89 is connected with the gas pedal, and the gearshift manipulator is connected with the automobile gearshift gear lever by the shift lever sleeve 69. The adjusting bolt 4 passes through the rotating shaft 3, and is perpendicular to the extension of the rear part of the rotating base plate, the length of the adjusting bolt 4 is changed, the rotating shaft 3 rotates around its axis, and the angle between the rotating base plate 2 and the fixed base plate 1 is adjusted. Make the plane of the rotating bottom plate 2 point to the vehicle pedal, and ensure that it is approximately vertical, so that the power loss of the drive motor of the mechanical leg drive unit during work can be reduced. Manipulator big arm I 63, big arm II66, big arm III78 are perpendicular to fixed base plate as far as possible, by changing the length of L-shaped regulating arm 68 (70), wrist connecting rod I 76, the position of wrist connecting rod II77, make shifting Rod sleeve socket and shift lever. The vehicle's clutch pedal, brake pedal, accelerator pedal and shift lever are connected to the robot's actuating end, realizing its non-destructive installation on the vehicle.

Referring to Fig. 4, the drive unit of the clutch mechanical leg adopts a servo motor as a power source, and the reducer 16 and the servo motor 15 are tightly connected. Through the axle sleeve 18 and the bearing 19 protruding connection. Large pulley 17 is affixed with reducer output bushing 18, and small pulley 10 is installed on the axle pin 9. The lower end face of the large pulley is tangent to the horizontal plane of the small pulley. One end of the wire rope is wound on the large pulley, and the direction of motion of the wire rope is perpendicular to the direction of rotation of the large pulley through the small pulley, and the other end is affixed to the rear end of the drive rod 13 . The compression spring 12 is sleeved on the outside of the driving rod 13, the front end is connected with the fixed bracket of the reducer, and the rear end is connected with the rear end of the actuator rod. The driving rod is composed of four thin rods, and the edge of the small pulley is on a horizontal line with the center to ensure that the tension of the wire rope will not generate component forces in other directions during the transmission process, resulting in force loss. The driving rod passes through the speed reducer fixed bracket 11 and the speed reducer bearing seat 7 and stretches out forward. The non-rotating part 6 of the spherical universal joint is fixedly connected with the extension end of the actuator rod, and the extension end 5 of the clutch mechanical leg drive unit is connected with the extension type of the clutch mechanical leg. Referring to Fig. 7, the clutch mechanical leg is made of telescopic rod outer tube 50, inner tube 54, spherical universal joint 53, and clutch folder 52 plates. The inner tube is connected with the non-rotating end of the spherical universal joint, and the rotating part is threaded with the clutch pedal clip. The servo motor of the clutch driver rotates and pulls the steel wire stay rope, and the stay rope changes direction through the pulley, compresses the spring, and pulls the driving rod to move forward. The position of the clutch mechanical leg is obtained by driving the linear displacement sensor 8 through the driving rod in the driver of the clutch mechanical leg. The clutch drive unit controls the movement speed of the drive rod by adjusting the speed of the servo motor and the start-stop time, so as to realize the adjustment of the recovery speed of the clutch mechanical leg, which meets the requirements for the speed of the clutch action during the process of starting and shifting the car, and reduces the speed of the shifting process. The shock ensures the smoothness of the car's starting and shifting.

Referring to Fig. 5, the drive unit of the mechanical leg of the brake is powered by a servo motor 29, the reducer 28 and the servo motor 29 are tightly connected, the servo motor and its reducer are fixed on the rotating base plate 2 by a bracket 27, and the output of the reducer is The shaft is connected with a bearing 34 through a shaft sleeve 23 . The large pulley 24 is fixedly connected with the output shaft sleeve 23 of the reducer, and the small pulley 26 is installed on the shaft pin 25 . The lower end face of the large pulley is tangent to the horizontal plane of the small pulley. One end of the steel wire rope is wound on the large pulley, and the direction of movement of the steel wire rope is perpendicular to the rotation direction of the large pulley through the small pulley, and the other end is fixedly connected with the rear end of the driving rod. The compression spring 32 is sleeved on the outside of the drive rod 31, the front end is connected with the fixed bracket of the reducer, and the rear end is connected with the rear end of the actuator rod. The driving rod protrudes forward through the fixed bracket of the reducer and the bearing seat of the reducer. The non-rotating part 21 of the spherical universal joint is fixedly connected to the extending end of the actuator rod, and the rotating part 20 is connected in an extending manner with the mechanical leg of the brake. Referring to Fig. 12, the mechanical leg of the brake is composed of the telescoping rod outer tube 83, the inner tube 87, the spherical universal joint 86, and the brake splint 85. The inner tube is connected with the non-rotating end of the spherical universal joint, and the rotating part is threaded with the brake pedal clip. The servo motor of the brake drive unit rotates and pulls the steel wire pull rope. The pull rope changes direction through the pulley, compresses the spring, and pulls the driving rod to move forward. The extended end of the driving rod is plugged into the mechanical leg of the brake. The position of the mechanical leg of the brake is obtained by driving the linear displacement sensor 33 through the driving rod in the driving unit of the mechanical leg of the brake. The brake mechanical leg drive unit controls the speed of the servo motor, follows the requirements of the durability test conditions, adjusts the time when the brake pedal is stepped on the brake pedal, changes the deceleration during the braking process of the car, and ensures that the speed of the car follows the speed required by the working conditions. accuracy.

Referring to Fig. 6, the throttle mechanical leg control device is powered by a servo motor 42, and the reducer 41 is tightly connected to the servo motor. It is connected with the bearing 37 through the shaft sleeve 38 . Large pulley 39 is fixedly connected with reducer output bushing 38, and small pulley 47 is installed on the shaft pin 48. The lower end face of the large pulley is tangent to the horizontal plane of the small pulley. One end of the steel wire rope is wound on the large pulley, and the direction of movement of the steel wire rope is perpendicular to the rotation direction of the large pulley through the small pulley, and the other end is fixedly connected with the rear end of the driving rod. The compression spring 44 is sleeved on the outside of the drive rod 45 , the front end is connected with the fixed bracket 40 of the reducer, and the rear end is connected with the actuator rod seat 43 . The driving rod protrudes forward through the fixed bracket of the reducer and the bearing seat of the reducer. The non-rotating part 36 of the spherical universal joint is affixed to the extending end of the actuator rod, and the rotating part 35 is connected with the mechanical leg of the accelerator. Referring to Fig. 13, the accelerator mechanical leg is made of telescopic rod outer tube 88, inner tube 92, spherical universal joint 91, and accelerator splint 90. The inner pipe is connected with the non-rotating end of the spherical universal joint, and the rotating part is threaded with the accelerator pedal clip. The servo motor of the throttle driver rotates and pulls the steel wire pull rope. The pull rope changes direction through the pulley, compresses the spring, and pulls the driving rod to move forward. The linear displacement sensor 46 is driven by the driving rod in the accelerator mechanical leg drive unit to obtain the position of the accelerator mechanical leg, and accurately control the accelerator pedal to achieve the target requirements of vehicle acceleration and steady speed driving.

Referring to Figures 7-10, the shifting action can be decomposed into two vertical actions of gear selection and gear shifting, and it is necessary to realize the freedom of movement of the shift lever sleeve 69 in two directions. Gearshift manipulator is by gear selection servomotor 57 and gearshift servomotor 62, gear selection shaft 73, shift shaft 58, big arm I 63, big arm II66, big arm III78, small arm I 67, small arm II71, L-shaped Regulating arm I 68, L-shaped regulating arm II70, shift lever sleeve 71 form. The gear selection servo motor 57 is tightly connected with the speed reducer 75, and the output shaft of the speed reducer is connected with the gear selection shaft 73 through a shaft coupling 74. The bottom of the big arm III78 is connected with the gear selection shaft 73 through the pin shaft, and the top is connected with the elbow joint. Boom I 63 is connected with the elbow joint with the top of boom II 66, and its bottom is connected with shift shaft 58 by bearing pin 81. One end of the forearm I 67 and the forearm II 71 is through the connection hole, and is respectively connected with the extending end elbow shaft II 64 of the elbow joint, and the elbow joint shaft I 65 is locked and connected, and the other end is respectively connected with two L-shaped adjustment arms. Shift rod sleeve 69 is connected with two L-shaped regulating arms respectively by wrist connecting rod I 76 and II 77. Adjusting the position adjustment holes of the L-shaped adjustment arms I68 and II70 can change the overall length of the small arm and adjust the front and rear positions of the shift lever sleeve. Adjust the adjustment holes of the wrist connecting rods I 76 and II 77 to adjust the left and right positions of the shift lever sleeve.

Referring to Fig. 9～10, the elbow joint connects big arm I 63, big arm II66 and big arm III78. Elbow joint is made up of elbow joint shaft II64, elbow joint shaft I65, elbow shaft support I79, elbow joint shaft support II80, pin 81. Elbow joint connecting shaft I 65 is socketed with elbow joint shaft bracket I79 and elbow joint shaft bracket II80 and can rotate around the bracket. Elbow joint shaft bracket I 79 is connected with the upper part of big arm I 63 and big arm II66 respectively through pin shaft 81, Elbow joint shaft support II80 is connected with the upper part of big arm III78 by pin shaft. Elbow joint connection shaft II64 is socketed with elbow joint shaft support I 79 and can rotate around it, and elbow joint shaft support I 79 is connected with big arm I 63 and big arm II66 respectively by pin shaft 81.

The gear selection motor 57 drives the boom III78 to turn left or right, the bottom of the boom I 63 and the boom II66 is connected with the shift shaft 58 through the pin shaft, and the top is connected with the boom III78 through the elbow joint, and the boom I 63 And the big arm II66 rotates left and right along with the big arm III78 under the drive of the elbow joint. Under the drive of the big arm III78, the elbow joint shaft bracket I 79 and the elbow joint shaft bracket II80 rotate around their pin shaft 81, driving the elbow joint connection shaft II64, and the elbow joint connection shaft I 65 to move horizontally to the left or right , thereby promoting the small arm I 67 and II 71 to move horizontally to the left or right, and then the shift sleeve 69 drives the shift lever to move left and right to realize the gear selection action. Shift motor 62 drives big arm I 63 and II66 to move back and forth, drives elbow joint connecting shaft II64, elbow joint connecting shaft I 65, rotates around its elbow joint shaft support 79, drives big arm III78 to move back and forth with big arm I 63 and II66 , to complete the shifting action. The big arm drives the small arm to move forward or backward, and the movement position of the sleeve is obtained through the angular displacement sensor 82 to complete the gear shifting action. The two motion processes of gear selection and gear shifting have high linearity and do not interfere with each other, which realizes the decoupling of the gear shifting action and facilitates the control. Through the L-shaped adjustment arm, the position of the sleeve can be adjusted to adapt to models with different driving spaces.

During the operation, adjust the length of the bolt 4 to adjust the angle of the movable floor, obtain the position of the driving unit of the mechanical leg and the corresponding pedal, adjust the direction of the spherical universal joint, change the length of the corresponding mechanical leg, and realize the installation of the driving robot .

After the driving robot is installed on the vehicle, the teaching process is carried out. Taking the clutch pedal as an example, press the clutch pedal to the end, and the computer sends instructions to the clutch mechanical leg to control the servo motor. The servo motor rotates and drives the output shaft of the reducer. The steel wire rope rotates, pulls the driving rod through the small pulley, compresses the spring, and makes the driving rod move forward. When the extending end of the driving rod contacts the outer tube section of the clutch mechanical leg, the computer sends a stop signal, and the clutch mechanical leg drive unit recovers. , to get the travel of the clutch pedal. The brake pedal stroke and the accelerator pedal stroke are obtained by analogy.

Claims (5)

1. A shift manipulator for automobile testing, comprising a gear selection motor, a gear shift motor, a gear selection shaft driven by the gear selection motor, a gear shift shaft driven by the gear shift motor, a boom I, a boom II, and a boom III. Forearm I, forearm II, two L-shaped adjustment arms, wrist connecting rod, elbow joint and shift lever sleeve. The elbow joint includes elbow joint axis I, elbow joint axis II, elbow joint axis Bracket I, elbow joint shaft support II and the pin shaft, the elbow joint shaft I is movably connected with the elbow joint shaft support I and the elbow joint shaft support II, and the elbow joint shaft support I is respectively connected to the upper part of the upper arm I and the upper arm II through the pin shaft Connection, the elbow joint shaft bracket II is connected with the upper part of the big arm III through the pin shaft, the elbow joint shaft II is movably connected with the elbow joint shaft support I; the gear selection shaft is connected with the lower part of the big arm III through the pin shaft, the big arm I and the big arm The lower part of the arm II is connected to the shift shaft through a pin shaft; one end of the small arm I and the small arm II is respectively locked and connected with the elbow joint shaft II and the elbow joint shaft I, and the other end is respectively connected with two L-shaped adjustment arms, and the shifting The rod sleeve is respectively connected with the two L-shaped adjustment arms through the wrist connecting rod. 2. The shift manipulator for automobile test according to claim 1, characterized in that, the shift manipulator for automobile test comprises an angular displacement sensor for obtaining the motion position of the sleeve, and its output is used to control the gear shift action. 3. The shift manipulator for automobile test according to claim 1, characterized in that, the gear selection motor is connected with its reducer, and the output shaft of the reducer is connected with the gear selection shaft through a shaft coupling. 4. The shift manipulator for automobile test according to claim 1, characterized in that, the shift motor is connected with its reducer, and the output shaft of the reducer is connected with the shift shaft through a coupling. 5. The shift manipulator for automobile test according to claim 1, characterized in that, two L-shaped adjustment arms are provided with position adjustment holes for changing the overall length of the small arm; The adjustment hole for adjusting the position of the shift lever sleeve.

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