CN105865805A - Electromagnetic drive robot driver for automobile tests - Google Patents

Abstract

The invention discloses an electromagnetically driven driving robot for automobile testing, which comprises a mechanical mobile phone case, a manipulator, a manipulator control mechanism, a mechanical leg case, three mechanical legs and three mechanical leg control mechanisms; the top of the mechanical leg case and the mechanical mobile phone case The bottom is fixed, the manipulator is connected to the manipulator case through the manipulator control mechanism, and the three mechanical legs are respectively connected to the manipulator case through three mechanical leg control mechanisms. In the car test with high repeatability, long duration and insufficient safety guarantee, the invention can completely replace the human driver in the car test, and can make the test result more accurate and objective.

Description

An electromagnetically driven driving robot for automotive testing

technical field

The invention belongs to the automatic driving technology of automobile test, in particular to an electromagnetically driven driving robot used for automobile test.

Background technique

In recent years, with the popularization of automobiles, the issue of automobile safety has become a general consensus in the society. At the same time, with the continuous increase of automobile ownership, harmful substances in automobile exhaust have caused environmental pollution and seriously affected people's quality of life. Therefore, before a car enters the market, it must undergo rigorous safety testing and repeated cycles of emissions testing. Obviously, under such test environment and conditions, it is not suitable for the driver to carry out the test. First, it will cause some damage to the driver's body. Secondly, under repeated test conditions, the driver's operation will produce large errors. Therefore, the application of driving robots in automobile tests can improve test efficiency and test accuracy.

The research on car driving robots abroad has been carried out for many years, and its technology is already mature and widely used. However, foreign companies keep the technical data of their products strictly confidential and do not publish them to the outside world. The more famous ones are Froude Consine and Kairos in the United States, Horiba, Autopilot, Nissan Motor, Onosokki and Automax in Japan, Schenck, Stable and Witt in Germany, Mira and ABD in Britain, etc.

Domestic research on driving robots started relatively late in the mid-1990s, mainly in some automotive research institutions and colleges and universities, the most representative being the DNC series developed by Southeast University and Nanjing Automotive Research Institute. Driving robot, this is the first driving robot with independent property rights in my country. In recent years, Nanjing University of Science and Technology, Tsinghua University, Shanghai Jiaotong University, Harbin Institute of Technology, Taiyuan University of Technology, China Automotive Technology Research Center and other universities and research institutions have also begun to study vehicle autonomous driving robots.

At present, there are mainly the following driving methods for driving robot manipulators:

Chinese patent 200420027440.8 discloses a seven-link dual-degree-of-freedom closed-chain shift manipulator. The shift manipulator uses two cylinders as the drive. The advantage is that the structure is simple and the flexibility is good. The disadvantage is that it requires an air source, which increases the system structure and weight. , At the same time, due to the relatively large gas compressibility, the accuracy is low.

Chinese patent 201410797965.8 discloses a gearshift manipulator and its control device for an automobile synchronizer test bench. The gearshift manipulator uses "motor + cylinder" as the drive, and the gear selection action is completed by the servo motor, and the gear shifting action is completed by the cylinder, which is easy to operate. It can simulate the effect of manual shifting, but its disadvantage is that the cylinder is arranged obliquely between the gear selection shaft and the shifting rocker arm, resulting in large system vibration, affecting the shifting effect, and poor stability.

Chinese patent CN 102393308 B discloses a driving robot used for automobile testing. Its shift manipulator is driven by "servo motor + servo motor" to complete the shift operation respectively. This shifting manipulator can adapt to different types of vehicles with different shifting forms, but because the two motors are vertically distributed, the system structure is not compact and takes up a lot of space.

Chinese patent CN 103631144 A discloses an electromagnetically driven vehicle driving robot, whose shift manipulator is directly driven by an electromagnetic linear actuator. However, its electromagnetic linear actuator is directly connected to the manipulator, which is prone to displacement offset due to the gear shifting operation, which affects the accuracy of subsequent gear shifting.

And the above-mentioned patents all have a common problem, the driving device is directly connected with the manipulator, and the movement of the manipulator will cause the driving device to produce a certain offset, thereby affecting the gear shifting accuracy.

At present, there are mainly the following types of devices for driving robot mechanical legs in terms of structure and driving methods:

Chinese patent CN 2793786 Y discloses a pneumatic control device for automobile brake and clutch pedals. Its mechanical legs adopt "pneumatic servo + linkage mechanism". During the automatic driving process of real vehicles, it is difficult to obtain air sources.

Chinese patent 200410065844.0 discloses a gas-electric hybrid driving robot for automobile testing. Its mechanical leg adopts "motor + reduction gear", which uses a rotating stepper motor and transmits torque through the reduction gear to drive the throttle mechanical leg of the driving robot. This structure has relatively high requirements for installation accuracy, and the structure is complex.

Chinese patent CN 103631144 A discloses an electromagnetically driven car driving robot. The foot plate of the mechanical leg, the calf rod of the mechanical leg and the thigh rod of the mechanical leg are connected by a ball hinge. More force is lost. The connection between the thigh rod and the calf rod of the mechanical leg in this patent cannot be fixed well when the length of the mechanical leg is adjusted to suit different models, and it is easy to slip during the movement of the mechanical leg, resulting in a decrease in test accuracy.

Contents of the invention

The purpose of the present invention is to provide an electromagnetically driven driving robot for automobile testing. In the automobile testing with high repeatability, long duration and insufficient safety guarantee, the present invention can completely replace human drivers for automobile testing. , and can make the experimental results more accurate and objective.

The technical solution that realizes the object of the present invention is: a kind of electromagnetic drive driving robot that is used for automobile test, comprises mechanical mobile phone box, manipulator, manipulator control mechanism, mechanical leg chassis, three mechanical legs and three mechanical leg control mechanisms; The top of the chassis is fixedly connected to the bottom of the mechanical mobile phone box, the manipulator is connected to the mechanical mobile phone box through the manipulator control mechanism, and the three mechanical legs are respectively connected to the mechanical leg chassis through three mechanical leg control mechanisms. The three mechanical leg control mechanisms have the same structure and are arranged parallel to each other. The mechanical leg control mechanism adopts a first DC linear motor. One end of the first DC linear motor is fixed on the mechanical leg chassis, and the other end is connected to the mechanical leg.

The mechanical leg control mechanism also includes a linear displacement sensor, which is arranged on the first DC linear motor.

The mechanical legs include threaded rods, mechanical leg calf rods, mechanical leg thigh rods, mechanical leg claws, mechanical leg push rods, calf connecting rods and sliding sleeves. One end of the mechanical leg push rod extends into the mechanical leg chassis and the DC linear motor Connection, one end of the thigh rod of the mechanical leg is connected with one end of the calf rod of the mechanical leg, the other end is connected with the jaw of the mechanical leg, the other end of the calf rod of the mechanical leg is connected with the end of the connecting rod of the lower leg, and the calf rod of the mechanical leg and the connecting rod of the lower leg are respectively equipped with Lifting lugs, the thread directions of the above two lifting lugs are opposite, and the two lifting lugs are connected by threaded rods; the other end of the lower leg connecting rod is provided with a sliding sleeve, which is connected to the mechanical leg chassis in rotation, and the lower leg connection between the lifting lugs and the sliding sleeve A protrusion is provided on the rod, and the protrusion is rotatably connected with the mechanical leg pushing the rod.

The mechanical leg also includes a force sensor, and the force sensor is arranged on the thigh rod of the mechanical leg for controlling braking.

The manipulator control mechanism includes a seven-link double-degree-of-freedom closed-chain mechanism, a crank slider mechanism and two second DC linear motors, and the crank slider mechanism and the two second DC linear motors are all arranged in the mechanical mobile phone box. A second DC linear motor is arranged in parallel, and one end is fixedly connected to the mechanical mobile phone case respectively. The seven-link double-degree-of-freedom closed-chain mechanism includes an output rod, a fixed rod and two input ends, and the two input ends are the first rocker respectively. Rod and the second rocker, the fixed rod is connected to the mechanical mobile phone case in rotation, the other end of the second DC linear motor is connected to the first rocker through the flange, and the other end of the second DC linear motor is connected through the flange The disk is connected to the input end of the slider crank mechanism, the output end of the slider crank mechanism is connected to the second rocker in rotation, and the output rod of the seven-link double-degree-of-freedom closed-chain mechanism is connected to the manipulator.

The manipulator control mechanism also includes an angular displacement sensor, and the angular displacement sensor is arranged on the flange of the second DC linear motor.

The manipulator includes a locking connection block, an arm rod, a ball handle, an arm vertical adjustment rod and a manipulator claw, one end of the arm rod is firmly connected with the output rod of the seven-link double-degree-of-freedom closed-chain mechanism, and the locking connection block is set on the On the arm rod, the non-ball end of the ball handle is firmly connected with the locking connection block. The ball end of the ball handle is provided with a groove. One end of the arm vertical adjustment rod is threaded to the groove, and the other end is provided with a manipulator claw. .

Compared with the prior art, the present invention has the following remarkable advantages: (1) The crank-slider mechanism is adopted to transmit the linear motion of the motor to the seven-link manipulator in the form of rotation, so that the motor is not directly connected with the manipulator, thereby It avoids unnecessary errors caused by the forced displacement of the fixed end of the motor when the manipulator shifts gears, and improves the precision.

(2) The angle of the mechanical legs can be easily adjusted by using the external lifting lug structure and the left and right spiral threads to suit different models.

(3) The horizontal and vertical positions of the jaws of the manipulator can be adjusted by locking the connecting block and the arm vertical adjustment lever.

(4) The position of the manipulator can be monitored in real time through the angular displacement sensor, and the position and motion acceleration of the mechanical leg can be easily obtained through the linear displacement sensor and force sensor, which greatly improves the accuracy of the test.

(5) In the car test with high repeatability, long duration and insufficient safety guarantee, the present invention can completely replace the human driver in the car test, and can make the test results more accurate and objective.

Description of drawings

Fig. 1 is the overall structural schematic diagram of the electromagnetic drive driving robot used for automobile test in the present invention.

Fig. 2 is a top view of the electromagnetically driven driving robot used for automobile testing according to the present invention.

Fig. 3 is a schematic diagram of the manipulator of the electromagnetically driven driving robot used in the automobile test according to the present invention.

Fig. 4 is a structural schematic diagram of a mechanical leg of an electromagnetically driven driving robot used in automobile testing according to the present invention.

Fig. 5 is a top view of the mechanical legs of the electromagnetically driven driving robot used in automobile testing according to the present invention.

FIG. 6 is a cross-sectional view along line A-A of FIG. 5 .

Figure 7 is a working principle diagram of the mechanical leg.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Referring to Figs. 1 to 6, an electromagnetically driven driving robot for automobile testing includes a manipulator case 1, a manipulator, a manipulator control mechanism, a mechanical leg chassis 30, three mechanical legs and three mechanical leg control mechanisms. The top of the mechanical leg chassis 30 is fixedly connected to the bottom of the mechanical mobile phone case 1, the manipulator is connected to the mechanical mobile phone case 1 through the manipulator control mechanism, the three mechanical legs are respectively connected to the mechanical leg chassis 30 through the three mechanical leg control mechanisms, and the three mechanical legs are located on the mechanical arm. The same side of leg chassis 30.

5, the three mechanical leg control mechanisms are identical in structure and are arranged parallel to each other. The mechanical leg control mechanism adopts the first DC linear motor 27, and one end of the first DC linear motor 27 is fixed on the mechanical leg chassis 30, and the other end Connect with mechanical legs.

The mechanical leg control mechanism also includes a linear displacement sensor 28 , and the linear displacement sensor 28 is arranged on the first DC linear motor 27 .

With reference to Fig. 1, Fig. 5, Fig. 6 and Fig. 7, the mechanical leg includes a threaded rod 6, a mechanical leg calf rod 7, a mechanical leg thigh rod 8, a mechanical leg claw 9, a mechanical leg push rod 29, a calf connecting rod 31 and sliding sleeve 32, one end of the mechanical leg push rod 29 stretches into the mechanical leg chassis 30 and is connected with the DC linear motor 27, one end of the mechanical leg thigh rod 8 is connected with one end of the mechanical leg calf rod 7, and the other end is connected with the mechanical leg claw 9, The other end of the mechanical leg calf rod 7 is rotationally connected with one end of the calf connecting rod 31. The mechanical leg calf rod 7 is provided with a lifting lug 5, and the calf connecting rod 31 is provided with a lifting lug 5. The thread directions of the above two lifting lugs 5 are opposite. The two lifting lugs 5 are connected by threaded rods 6; the other end of the shank connecting rod 31 is provided with a sliding sleeve 32, which is rotationally connected with the mechanical leg chassis 30, and the shank connecting rod 31 between the lifting lug 5 and the sliding sleeve 32 is provided with The protrusion is rotatably connected with the mechanical leg pushing rod 29 through the protrusion.

The mechanical leg also includes a force sensor 10 , and the force sensor 10 is arranged on the thigh rod 8 of the mechanical leg that controls braking.

1, 2 and 3, the manipulator control mechanism includes a seven-link double-degree-of-freedom closed-chain mechanism 17, a slider crank mechanism 25 and two second DC linear motors 11, a slider crank mechanism 25 and two The second DC linear motors 11 are all arranged in the mechanical mobile phone case 1. In order to ensure that the output displacement is sufficient to complete the gear shifting action, the two DC linear motors 11 are fixedly connected to the boss of the mechanical mobile phone case 1 to compensate for the displacement. . One end of the seven-link double-degree-of-freedom closed-chain mechanism 17 extends into the mechanical mobile phone case 1, two second DC linear motors 11 are arranged in parallel, and one end is fixedly connected to the mechanical mobile phone case 1 respectively. The seven-link double-degree-of-freedom closed-chain mechanism 17 includes An output rod 16, a fixed rod 15 and two input ends, the two input ends are respectively the first rocker 24 and the second rocker 19, the fixed rod 15 is rotationally connected with the mechanical mobile phone case 1, and a second DC linear motor The other end of 11 is rotationally connected with the first rocker 24 through the flange, and the other end of the second DC linear motor 11 is connected with the input end of the slider crank mechanism 25 through the flange, and the output of the slider crank mechanism 25 The end is rotationally connected with the second rocker 19, and the output rod 16 of the seven-link double-degree-of-freedom closed-chain mechanism 17 is connected with the manipulator.

The manipulator control mechanism also includes an angular displacement sensor, and the angular displacement sensor is arranged on the flange of the second DC linear motor 11 .

Referring to Fig. 3, the manipulator includes a locking connection block 23, an arm rod 2, a ball handle 3, an arm vertical adjustment rod 26 and a manipulator claw 4, and one end of the arm rod 2 is connected to a seven-bar double-degree-of-freedom closed-chain mechanism 17 and an output rod 16 Fixed connection, the locking connection block 23 is set on the arm rod 2, the non-ball end of the ball handle 3 is connected with the locking connection block 23, the ball end of the ball handle 3 is provided with a groove, and the arm vertical adjustment rod 26 One end is threadedly connected with the groove, and the other end is provided with a manipulator claw 4 . By setting the locking connection block 23 at different positions of the arm rod 2, the purpose of adjusting the horizontal position of the manipulator jaw 4 is achieved; by adjusting the depth of the arm vertical adjustment rod 26 screwed into the groove, the adjustment of the manipulator jaw 4 is achieved. The purpose of the vertical position.

Example 1

An electromagnetically driven driving robot for automobile testing, comprising a mechanical hand case 1, a manipulator, a manipulator control mechanism, a mechanical leg chassis 30, three mechanical legs and three mechanical leg control mechanisms. The top of the mechanical leg casing 30 is fixedly connected with the bottom of the mechanical mobile phone casing 1, and is placed on the driver's seat for automatic driving test. The manipulator is connected to the manipulator case 1 through the manipulator control mechanism, and the three mechanical legs are respectively connected to the manipulator case 30 through the three manipulator control mechanisms.

The three mechanical leg control mechanisms have the same structure and are arranged in parallel with each other. The mechanical leg control mechanism adopts a first DC linear motor 27. One end of the first DC linear motor 27 is fixed on the mechanical leg chassis 30, and the other end is fixed to the mechanical leg. Even, the force required for the mechanical legs to control the movement of the car pedals can be output in real time.

The mechanical leg control mechanism also includes a linear displacement sensor 28. The linear displacement sensor 28 is arranged on the first DC linear motor 27, which can obtain the position of the mechanical leg in time and conveniently control the output force of the first DC linear motor.

Described mechanical leg comprises threaded rod 6, mechanical leg calf rod 7, mechanical leg thigh rod 8, mechanical leg claw 9, mechanical leg push rod 29, shank connecting rod 31 and sliding sleeve 32, and mechanical leg push rod 29 one end extends The mechanical leg chassis 30 is fixedly connected with the DC linear motor 27, and one end of the mechanical leg thigh rod 8 is threadedly connected with the mechanical leg calf rod 7. There are external threads on the mechanical leg calf rod 7 and internal threads on the mechanical leg thigh rod 8. The total length of the mechanical leg is adjusted by controlling the depth at which the lower leg rod 7 of the mechanical leg is screwed into the thigh rod 8 of the mechanical leg to adapt to the non-destructive installation of different models. The other end of the mechanical leg thigh rod 8 is threadedly connected with the mechanical leg claw 9, and the automobile pedal is fixed in the mechanical leg claw 9 by rotating the mechanical leg thigh rod 8 . The other end of the mechanical leg calf rod 7 is rotationally connected with one end of the calf connecting rod 31 to adjust the opening angle of the mechanical leg, which is convenient for non-destructive installation with the automobile pedal. The mechanical leg calf rod 7 is provided with a lifting lug 5, and the calf connecting rod 31 is provided with a lifting lug 5. The above two lifting lugs 5 are connected with the mechanical leg calf rod 7 and the calf connecting rod 31 through a rotating connection. The two lifting lugs 5 are threaded in the opposite direction, and the two lifting lugs 5 are threaded through the threaded rod 6. The angle of the lower leg connecting rod 31 and the mechanical leg calf rod 7 can be adjusted by rotating the threaded rod 6, so as to realize the rapid installation of the driving robot; The other end of the rod 31 is provided with a sliding sleeve 32, the sliding sleeve 32 is rotationally connected with the mechanical leg chassis 30, and the output force of the first DC linear motor transmitted by the mechanical leg pushing rod 29 can control the movement of the mechanical leg. A protrusion is provided on the lower leg connecting rod 31 between the lifting lug 5 and the sliding sleeve 32 , through which the protrusion is rotatably connected with the mechanical leg pushing rod 29 .

Mechanical leg also comprises force sensor 10, and force sensor 10 is arranged on the mechanical leg thigh rod 8 of control brake, can obtain the size of the force on the mechanical leg of control brake conveniently, combines the size of the displacement that linear displacement sensor obtains, can It is convenient to obtain the speed of the mechanical leg movement of the control brake.

The manipulator control mechanism includes a seven-link double-degree-of-freedom closed-chain mechanism 17, a slider crank mechanism 25 and two second DC linear motors 11, and the slider crank mechanism 25 and two second DC linear motors 11 are all arranged on the machine. In the mobile phone case 1, in order to ensure that the output displacement is sufficient to complete the gear shifting action, two DC linear motors 11 are fixedly connected to the bosses of the mechanical mobile phone case 1 to compensate for the displacement, and placed on the driver's seat for automatic driving tests. One end of the seven-link double-degree-of-freedom closed-chain mechanism 17 extends into the mechanical hand box 1, two second DC linear motors 11 are arranged in parallel, and one end is respectively fixedly connected to the mechanical hand box 1, which can output in real time for the manipulator to control gear shifting, selection The force required for gear movement. The seven-link double-degree-of-freedom closed-chain mechanism 17 includes an output rod 16, a fixed rod 15 and two input ends, the two input ends are respectively the first rocker 24, the second rocker 19, the fixed rod 15 and the mechanical handpiece The box 1 is rotationally connected, and the other end of a second DC linear motor 11 is rotationally connected with the first rocker 24 through a flange, and the power of the motor is output through the rocker; the other end of the second DC linear motor 11 is passed through a method The blue plate is connected with the input end of the crank-slider mechanism 25, and the output end of the crank-slider mechanism 25 is connected with the second rocker 19 in rotation, and the power of the motor is output through the crank. The seven-link two-degree-of-freedom closed-chain mechanism 17 output rod 16 is connected with the manipulator.

The manipulator control mechanism also includes an angular displacement sensor, and the angular displacement sensor is arranged on the flange of the second DC linear motor 11 . The sensor detects the position and converts the force directly into the deflection angle for output.

The manipulator includes a locking connection block 23, an arm bar 2, a ball handle 3, an arm vertical adjustment bar 26 and a manipulator claw 4, and one end of the arm bar 2 is fixedly connected with the output bar 16 of the seven-link double-degree-of-freedom closed-chain mechanism 17, and the locking Tight connection piece 23 is enclosed within on the arm rod 2, and the non-ball end of ball handle 3 is connected with locking connection block 23, and the ball end is provided with groove, and one end of arm vertical adjustment rod 26 is threadedly connected with groove, and another One end is provided with manipulator claw 4. It is used to adjust the vertical position of the shift manipulator to suit different models. It is bolted and connected by the arm horizontal adjustment mechanism. By cooperating with the claw 4 of the manipulator, the shift handle of the automobile transmission is clamped and fixed, so that the shift handle can be realized. manipulation. By setting the locking connection block 23 at different positions of the arm rod 2, the purpose of adjusting the horizontal position of the manipulator jaw 4 is achieved; by adjusting the depth of the arm vertical adjustment rod 26 screwed into the groove, the adjustment of the manipulator jaw 4 is achieved. The purpose of the vertical position.

Working principle: In combination with Fig. 7, during the movement process of stepping on the car pedal, the force output by the first DC linear motor 27 acts on the mechanical leg push rod 29, and the mechanical leg push rod 29 pushes the lower leg connecting rod 31 along the sliding sleeve 32 do reciprocating motion, along with the rotation of sliding sleeve 32 around mechanical leg casing 30, the horizontal straight line motion of motor can be converted into the motion along the automobile pedal direction. The movement of the linear displacement sensor 28 along with the movement of the mechanical leg push rod 29 can provide real-time feedback of the motion status of the mechanical leg, thereby realizing the requirements of the driving conditions of the vehicle.

During gear shifting and gear selection movement, the linear motion of the electromagnetic linear actuator of the second DC linear motor 11 is converted into rotational motion through the first rocker 24 and the second rocker 19, and the thrust of the electromagnetic linear actuator is transmitted at the same time, The current rotation angle coordinate value of the shift manipulator is measured by using the gear selection angle displacement sensor and the gear engagement angle displacement sensor. When the second DC linear motor 11 that controls the gear selection manipulator moves, the second rocker 19 keeps its position unchanged, and the first rocker 24 rotates around the rotating shaft, driving the double-degree-of-freedom closed-chain mechanism 17 to move, realizing the automobile gear shift lever. The gear selection action can detect the gear selection position in real time through the gear selection angle displacement sensor. When the second DC linear motor 11 that controls the manipulator in gear moves, the first rocker 24 keeps its position unchanged, and the second rocker 19 rotates around the axis, driving the gear connecting rod 18 and the output rod 16 to move, thereby realizing The gear shifting and shifting actions of the joystick of the automobile gearbox can obtain the gear shifting position through the gear shifting angular displacement sensor. The compound movement in the two directions of gear selection and gear engagement can realize the gear shift action of all gear positions of various transmissions. The output rod 16 is used as an arm rod. In addition to transmitting force and completing motion, it also provides a locking connection block 23 for adjusting the length of the arm of the shift manipulator. The adjustment of the length of the manipulator is realized through this adjustment mechanism, so as to be applicable to any vehicle type. Due to the specific position of the transmission shift handle of different models is different, not only the horizontal position is different, but also the vertical position is also different. The arm vertical adjustment mechanism 26 is used to adjust the vertical position of the shift manipulator to suit different vehicle models. It is bolted and connected by the arm horizontal adjustment mechanism, and the shift handle of the automobile transmission is clamped and fixed by cooperation with the manipulator claw 4. , so as to realize the manipulation of the shift handle. Considering the offset caused by the swing of the rod when the motor moves, the offset is eliminated by the slider crank mechanism 25 to ensure the stable output of the motor. The second DC linear motor 11 is connected with the slider crank mechanism 25, and the force is transmitted to the shifting active part through the slider crank mechanism 25 to realize the shifting operation.

Claims (8)

1. An electromagnetically driven driving robot for automobile testing, characterized in that: it comprises a mechanical hand case (1), a manipulator, a manipulator control mechanism, a mechanical leg chassis (30), three mechanical legs, and three mechanical leg control mechanisms; The top of the mechanical leg case (30) is fixedly connected to the bottom of the mechanical mobile phone case (1), the manipulator is connected to the mechanical mobile phone case (1) through the manipulator control mechanism, and the three mechanical legs are respectively connected to the mechanical leg case (30) through three mechanical leg control mechanisms connect. 2. The electromagnetically driven driving robot for automobile test according to claim 1, characterized in that: the three mechanical leg control mechanisms have the same structure and are arranged in parallel with each other, and the mechanical leg control mechanism adopts the first DC linear motor ( 27), one end of the first DC linear motor (27) is fixed on the mechanical leg chassis (30), and the other end is connected to the mechanical leg. 3. The electromagnetically driven driving robot for automobile testing according to claim 2, characterized in that: the mechanical leg control mechanism also includes a linear displacement sensor (28), and the linear displacement sensor (28) is set at the first DC on the linear motor (27). 4. The electromagnetically driven driving robot for automobile testing according to claim 2, characterized in that: said mechanical legs include threaded rods (6), mechanical leg calf rods (7), mechanical leg thigh rods (8) , mechanical leg claw (9), mechanical leg push rod (29), lower leg connecting rod (31) and sliding sleeve (32), one end of the mechanical leg push rod (29) extends into the mechanical leg chassis (30) and the DC linear motor (27) connection, one end of the mechanical leg thigh rod (8) is connected with one end of the mechanical leg calf rod (7), the other end is connected with the mechanical leg claw (9), the other end of the mechanical leg calf rod (7) is connected with the calf link ( 31) One end is rotated and connected, and the mechanical leg calf rod (7) and the calf connecting rod (31) are respectively provided with lifting lugs (5). The threaded rod (6) is connected; the other end of the lower leg connecting rod (31) is provided with a sliding sleeve (32), the sliding sleeve (32) is rotationally connected with the mechanical leg chassis (30), and the lifting lug (5) and the sliding sleeve (32) There is a protrusion on the lower leg connecting rod (31) between them, through which it is rotatably connected with the mechanical leg pushing rod (29). 5. The electromagnetically driven driving robot for automobile testing according to claim 4, characterized in that: the mechanical leg also includes a force sensor (10), and the force sensor (10) is arranged on the thigh rod of the mechanical leg that controls braking (8) on. 6. The electromagnetically driven driving robot for automobile testing according to claim 1, characterized in that: the manipulator control mechanism includes a seven-link double-degree-of-freedom closed-chain mechanism (17), a crank slider mechanism (25) and The two second DC linear motors (11), the slider crank mechanism (25) and the two second DC linear motors (11) are all arranged in the mechanical hand case (1), and the two second DC linear motors (11) Arranged in parallel, one end is fixedly connected to the mechanical mobile phone box (1) respectively, and the seven-link double-degree-of-freedom closed-chain mechanism (17) includes an output rod (16), a fixed rod (15) and two input ends, two input ends The ends are the first rocker (24) and the second rocker (19), the fixed rod (15) is connected to the mechanical hand case (1) in rotation, and the other end of a second DC linear motor (11) passes through the flange It is connected to the first rocker (24) in rotation, and the other end of the second DC linear motor (11) is connected to the input end of the crank slider mechanism (25) through a flange, and the output of the crank slider mechanism (25) The end is rotationally connected with the second rocker (19), and the output rod (16) of the seven-link double-degree-of-freedom closed-chain mechanism (17) is connected with the manipulator. 7. The electromagnetically driven driving robot for automobile testing according to claim 6, characterized in that: the manipulator control mechanism also includes an angular displacement sensor, and the angular displacement sensor is arranged on the second DC linear motor (11) on the flange. 8. The electromagnetically driven driving robot for automobile testing according to claim 6, characterized in that: the manipulator includes a locking connection block (23), an arm rod (2), a ball handle (3), and a vertical arm The adjusting rod (26) and the manipulator claws (4), one end of the arm rod (2) are firmly connected with the output rod (16) of the seven-link double-degree-of-freedom closed-chain mechanism (17), and the locking connection block (23) is set on the On the arm rod (2), the non-ball end of the ball handle (3) is firmly connected with the locking connection block (23), the ball end of the ball handle (3) is provided with a groove, and the arm vertical adjustment rod (26) One end is threadedly connected to the groove, and the other end is provided with a manipulator claw (4).