CN108032305A - A kind of unmanned machine people for automobile - Google Patents

Abstract

The invention discloses a kind of unmanned machine people for automobile, including steering mechanical hand, gear shifting manipulator cabinet, gear shifting manipulator control structure, gear shifting manipulator, three pedipulators, three pedipulator control structures and pedipulator cabinet, pedipulator cabinet is set on driver's seat in the car, pedipulator enclosure top is connected with gear shifting manipulator cabinet bottom, steering mechanical hand is fixed on gear shifting manipulator enclosure top, the present invention can replace the operation of mankind's progress car steering, available in drive routine and automobile test, the work burden of the mankind can be mitigated significantly；The present invention has good adaptability at the same time, can adapt to driver's cabin vehicle of different sizes；And installing and dismounting is easy, without carrying out any repacking to driving vehicle.

Description

A driverless robot for cars

technical field

The invention belongs to the field of automatic driving of automobiles, in particular to an unmanned driving robot for automobiles.

Background technique

In recent years, the automobile industry has developed rapidly, and the popularity of automobiles has greatly facilitated people's production and life. However, due to driving for a long time, the driver becomes fatigued. For drivers, driving is not only a waste of time, but also a waste of energy. With the development of intelligent technology and automation technology, people need a robot that can replace themselves to complete the driving operation. In the vehicle test, due to the need to obtain a large amount of data, it is necessary to do a large number of tests on the vehicle. If a person drives the vehicle for the test, accidents are prone to occur. The use of unmanned robots can solve this problem well and improve the efficiency and accuracy of the test. Moreover, when the driving robot is applied to places with severe pollution such as nuclear power plants and heavy chemical industries, it can reduce the labor intensity of humans, reduce the damage to the human body caused by harsh environments, and improve the objectivity and accuracy of test results.

At present, there are mainly the following types of structures and driving methods for driving robots to turn manipulators: Chinese patent 201410174404.2 discloses a car automatic driving robot. Its steering wheel control structure is mainly driven by a disc-type hollow motor, which controls the movement of the steering column through the rotation of the motor at a certain angle and speed, thereby driving the wheels to rotate. The device will lose control of the steering column in the event of an emergency power failure, while a person can turn the steering wheel to control the car in case of an emergency. However, this device still requires the intervention of the driver and does not completely liberate the driver.

Chinese patent 201410392104.1 discloses a high-performance autonomous driving robot for automobile testing. The steering wheel control part is composed of a clamping device and a steering part. However, the structure of the clamping device is complex, and the device is tilted. sexual issues.

Chinese patent 201710164083.1 discloses a steering manipulator for a car driving robot, which is mainly composed of three parts: a steering wheel clamping device, a rotating device, and a position adjustment structure. Driven by a servo motor and through a coupling, the rotation requirements for the steering wheel are realized. However, the motor is tilted, and the pole needs to bear the gravity of the motor and maintain a certain angle, which is prone to problems during the long-term driving of the car.

At present, the structure and driving methods of the shifting manipulator mainly include: Chinese patent 200420027440.8 discloses a seven-link double-degree-of-freedom closed-chain shifting manipulator. The shifting manipulator is driven by two cylinders. The advantages are simple structure and good flexibility. The disadvantage is that The gas source is required, which increases the weight of the system structure, and at the same time, due to the relatively high compressibility of the gas, the accuracy is low.

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.

Chinese patent CN 1058655805 A discloses an electromagnetically driven driving robot used for automobile experiments. The shift manipulator still uses a seven-bar linkage to achieve mechanical decoupling. The motor uses "servo motor + servo motor". The overall system The mass is larger and the device is more complicated.

At present, the mechanical legs of the driving robot mainly include the following types in terms of structure and driving mode: Chinese patent CN1621990A discloses a gas-electric hybrid driving robot for automobile experiments. The clutch and braking mechanical legs are driven by a cylinder with a lock. The advantages are It has the quickness and flexibility of the human driver's muscles, but the disadvantage is that it is difficult to position and control, and it is difficult to obtain the air source. Its accelerator mechanical leg adopts "motor + reduction gear", which has the advantage of high positioning accuracy, and the disadvantage of relatively high installation accuracy and complex structure.

Chinese patent CN 106932205 A discloses a car driving robot based on linear motor drive. Its driving mechanical legs adopt "linear motor + linkage mechanism". This structure has high positioning accuracy and quick response. The disadvantage is that there is no emergency response in emergency Institutions, less security.

Chinese patent CN 102435442 B discloses a self-driving robot for vehicle road tests. Its driving mechanical legs adopt a "motor + lead screw" structure. This structure has high control precision and fast speed response, but its disadvantage is poor stability.

Contents of the invention

The purpose of the present invention is to provide an unmanned robot for automobile driving. In normal driving and automobile testing, the present invention can completely replace the driver for automobile driving and reduce human labor.

The technical solution to realize the object of the present invention is: an unmanned robot for automobiles, including a steering manipulator, a shifting manipulator mobile phone box, a shifting manipulator control structure, a shifting manipulator, three mechanical legs, and three mechanical leg control structures and a mechanical leg chassis, the three mechanical legs are a clutch mechanical leg, a braking mechanical leg and a throttle mechanical leg, and the control structures of the three mechanical legs are a clutch mechanical leg control structure, a braking mechanical leg control structure and a throttle mechanical leg control structure , the mechanical leg case is arranged on the driver's seat in the vehicle, the top of the mechanical leg case is fixedly connected with the bottom of the shifting mechanical mobile phone case, and the steering manipulator is fixed on the top of the shifting mechanical mobile case.

Preferably, the steering manipulator part includes a lower base plate, four arms, a screw, a screw guide, an upper top plate, a large screw, a small screw, a motor splint, a servo motor, a universal coupling, a reducer, and a connecting shaft , steering claw plate, steering gripper; wherein, two large screw rods are placed in parallel on the shifting mobile phone box, the lower base plate is installed between the two large screw rods and the two ends of the lower base plate are respectively connected with the two large screw rods, the lower base plate It can move axially along the large screw. The four arms are divided into two groups. Two arms in each group form a scissor structure to connect the lower bottom plate and the upper top plate. The screw is connected to the upper top plate. The other two small screws are installed in parallel on the upper top plate. The servo motor is clamped by the motor splint and sleeved on the two small screws, which can move axially along the small screws. The reducer is connected to the servo motor, and one end of the connecting shaft is connected to the The output end of the reducer is connected, and the other end is connected to the universal coupling. The output end of the universal coupling is fixedly connected to the steering claw.

Preferably, the steering claw plate includes a boom and a small arm; wherein the steering claw disk is fixedly connected with the universal coupling, the boom is arranged axially along the steering claw disk, and the small arm is connected to the boom through a nut. The steering gripper is fixed on the forearm.

Preferably, the shift manipulator control structure includes a guide rail, a two-degree-of-freedom mechanism of a rotating rod, a support mechanism, and a linear rotary motor, the linear rotary motor is fixed on the guide rail seat of the guide rail, and the guide rail seat is fixed on the shifting robot mobile phone case, One end of the shaft of the linear rotary motor is fixedly connected to the reducer, and the bottom of the reducer is fixedly connected to the guide rail. The two-degree-of-freedom mechanism of the rotating rod includes a guide rail, three rotating rods, a reducer, and two fixed rods. The rotating rod is composed of two grooved The length of the rotating rod is adjusted by fixing the position of the slot with nuts and screws. The output shaft of the motor is both a straight line and a rotating output shaft. The other end of the reducer is rotationally connected with a rotating rod, and the three rotating rods pass through The two fixed rods are connected, and the other two rotating rods are connected with the guide rail through rotation.

Preferably, the support structure is composed of a support device, a fixed guide rail slideway, and a triangular fixed frame, which are used to support the guide rail and the two-degree-of-freedom mechanism of the rotating rod.

Preferably, the shift manipulator control structure further includes an angular displacement sensor and a linear displacement sensor.

Preferably, the shift manipulator includes a locking connection block, an arm rod, a ball handle and a mechanical claw, one end of the arm rod is connected to a fixed rod connecting two rotating rods, and the locking connection block is sleeved on the arm rod. Adjust the length of the rotating rod to control the up and down movement of the mechanical claws. There is a fixing device inside the claws of the manipulator. The fixing device is composed of a piece of iron sheet with a groove and a threaded rod. The fixing device further passes the shift lever through the grooved The position is limited by the iron sheet and fixed by nuts.

Preferably, the clutch mechanical leg control structure includes a first ring group, a first moving plate, a first linear motor, a first mechanical leg push rod, a first large baffle, a first spring, a first small baffle, The first bolt connection, the first splint group, the first lifting ring group, the first linear motor, the first large baffle and the first splint group are respectively fixed on the first moving plate, and the first mechanical leg push rod and the first straight The wire motor is fixedly connected, and the first spring is respectively fixedly connected with the first large baffle and the first small baffle. The plate is fixedly connected with the push rod of the first mechanical leg, and the upper and lower splints of the first splint group are connected by the first bolt.

Preferably, the brake mechanical leg control structure includes a second suspension ring group, a second moving plate, a second linear motor, a second mechanical leg push rod, a second large baffle, a second spring, a second small baffle, The second bolt connection, the second splint group, the second lifting ring group, the second linear motor, the second large baffle and the second splint group are respectively fixed on the second moving plate, and the second mechanical leg push rod and the second linear motor Fixed connection, the second spring is fixedly connected with the second large baffle and the second small baffle respectively, the second large baffle has a hole so that it does not hinder the forward and backward movement of the push rod of the second mechanical leg, the second small baffle is connected with the second small baffle The push rod of the second mechanical leg is fixedly connected, and the upper and lower splints of the second splint group are connected by the second bolt connection.

Preferably, the accelerator mechanical leg control structure includes a third suspension ring group, a third moving plate, a third linear motor, a third mechanical leg push rod, a third small baffle, a third spring, a third large baffle, a third Three-bolt connection, the third splint group, the third lifting ring group, the third linear motor, the third large baffle and the third splint group are respectively fixed on the third moving plate, the third mechanical leg push rod and the third linear motor are fixed Then, the third spring is fixedly connected with the third small baffle and the third large baffle respectively, and the third large baffle has a hole so that it does not hinder the forward and backward movement of the push rod of the third mechanical leg. The three mechanical legs are fixedly connected to push rods, and the third bolt is connected to connect the upper and lower splints of the third splint group.

The invention has the following beneficial effects: (1) the steering manipulator adopts a scissor-type structure, which can freely adjust the steering manipulator to move up and down; (2) the steering manipulator is placed horizontally, which is helpful for the normal output of the motor; (3) the linear rotation motor is adopted , which reduces the overall mass and volume, and realizes mechanical decoupling at the same time. The gear selection is performed through the linear motion of the guide rail, and the two actions of gearing are performed by the rotary motion of the rotating rod; (4) The driving mechanical leg adopts "motor + spring" (5) The motor driving the mechanical legs is fixed on the moving plate, so that the three mechanical legs can be adjusted according to the distance between the pedals of different models The control structure moves left and right, improving the adaptability of the unmanned robot.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the unmanned robot that the present invention is used for automobile.

Fig. 2 is a side view of the unmanned robot for automobiles according to the present invention.

Fig. 3 is a top view of the unmanned robot used in automobiles according to the present invention.

Fig. 4 is a schematic diagram of the steering manipulator of the unmanned robot used in automobiles according to the present invention.

Fig. 5 is a schematic diagram of the partial structure of the steering manipulator of the unmanned robot used in automobiles according to the present invention.

Fig. 6 is a structural schematic diagram of the steering gripper on the steering manipulator of the unmanned robot used in automobiles according to the present invention.

Fig. 7 is a schematic side view of the shifting manipulator and the mechanical legs of the unmanned robot used in automobiles according to the present invention.

Fig. 8 is a top view of the shifting manipulator and the mechanical legs of the unmanned robot for automobiles according to the present invention.

Fig. 9 is a structural schematic diagram of the control link of the clutch mechanical leg of the unmanned robot used in automobiles according to the present invention.

Fig. 10 is a schematic structural diagram of the control link of the brake mechanical leg of the unmanned robot used in automobiles according to the present invention.

Fig. 11 is a schematic structural diagram of the control link of the accelerator mechanical leg of the unmanned robot used in automobiles according to the present invention.

Fig. 12 is a structural schematic diagram of the mechanical legs of the unmanned robot used in automobiles according to the present invention.

Fig. 13 is a top view of the clutch, brake, and throttle mechanical legs of the unmanned robot used in automobiles according to the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

1-5, the steering manipulator includes a servo motor 1, a motor splint 2, a small screw 3, a reducer 4, a connecting shaft 5, a universal coupling 6, a steering grip 7, a small arm 8, and a large arm 9. Steering claw plate 10, upper top plate 11, arm bar 12, lower base plate 13, leading screw 14, large screw rod 15, leading screw guide rod 16.

It can be clearly seen from Fig. 2-5 that two large screw rods 15 are placed in parallel on the shifting mechanical mobile phone case, and the lower base plate 13 is installed between the two large screw rods 15, and the lower base plate 13 can act as an axis along the large screw rods 15. To move to, to adjust the distance between the driving robot steering manipulator and the left and right sides of the car steering wheel, when the lower base plate 13 moves to a suitable position, fix the lower base plate with eight nuts to prevent the driving robot from moving left and right when the lower base plate is working normally; the four arms The rod 12 forms a scissor structure, and the lead screw 14 is connected with the arm rod 12-1 through the lead screw guide rod 16. By rotating the lead screw 14, the lead screw guide rod 16 is driven to move axially along the lead screw, thereby driving the arm rod 12-1 moves along the groove of the upper top plate 11, and then drives the arm rod 12-2 to move along the groove of the lower bottom plate 13, thereby changing the height of the upper top plate 11 and adapting to steering wheels of different heights; the small screw 3 is placed in parallel on the upper top plate 11, the motor splint 2 installs the servo motor 1 on two small screw rods 3 through bolt connection, and the motor splint 2 can move axially along the small screw rod 2 to adjust the distance between the steering manipulator and the car steering wheel. Move the motor splint to an appropriate position, and fix the movement of the motor splint 2 with four nuts; the reducer 4 is connected to the servo motor 1 to increase the torque, and the output shaft of the reducer 4 is connected to the universal joint through the connecting shaft 5 The shaft device 6 is connected; the steering claw plate 10 is connected with the universal coupling 6, and the small arm 8 on the steering claw plate 10 can move on the boom 9 to adapt to steering wheels of different diameters. After the position, fix it with nuts.

As shown in Figure 6, the steering handle is composed of a swing rod 7-1, a connecting rod 7-2, a grip frame 7-3, and a nut 7-4; there are threads on the connecting rod 7-2, and by moving the connecting rod 7-2, can realize that the swing rod 7-1 rotates on the handle frame 7-3, when grabbing the steering wheel, use the gap between the swing rod 7-1 and the handle frame 7-3 to grab the steering wheel, and wait for the connecting rod When the 7-2 moves to a suitable position, fix it with the nut 7-4, thereby realizing the operation that the steering grab handle grabs the steering wheel.

As shown in Figures 7 and 8, the shift manipulator structure includes a guide rail 17, a linear rotary motor 18, an output shaft 19, a guide rail seat 20, a gear shift robot case 21, a reducer 22, a reducer base 23, three Swivel bar 24,25,26, fixed bar 27,28, locking connection block 29, arm bar 30, ball end handle 31 and mechanical claw 32, grooved iron sheet 33, threaded rod 34, support device 80, Fix the guide rail slideway 81 and the triangle fixing frame 82.

7 and 8, the shift manipulator control mechanism includes a guide rail 17, a two-degree-of-freedom mechanism of a rotating rod, and a linear rotary motor 18. The linear rotary motor 18 is fixed on the guide rail seat 20 of the linear guide rail, and the guide rail seat 20 is fixed on the On the gearshift mechanical mobile phone case 21. One end of the rotating shaft of the linear rotary motor 18 is fixedly connected with the reducer 22 , and the bottom of the reducer 22 is fixedly connected with the guide rail 17 . The two-degree-of-freedom mechanism of guide rail 17 and rotating rod comprises a guide rail 17, three rotating rods 24, 25, 26, a speed reducer 22, two fixed rods 27, 28, and the rotating rod is made up of two rods with slots, which can Adjust the length of the rotating rod by fixing the position of the groove with the nut and the screw rod. The output shaft 19 of the motor is both a straight line and a rotating output shaft. The other end of the reducer 22 is connected in rotation with a rotating rod 24. , 26 are connected by two fixed rods 27,28, and the other two rotating rods 25,26 are connected with guide rail 17 by rotation. The lower part of the supporting device 80 and the triangular fixing frame 82 is connected with the side wall of the mechanical leg through threaded connection, and the upper part is fixedly connected with the fixed guide rail slideway 81, and the guide rail slideway 81 carries the two-degree-of-freedom mechanism of the guide rail and the rotating rod.

Described manipulator comprises locking connection block 29, arm bar 30, ball head handle 31 and mechanical claw 32, and arm bar 30 one end links to each other with the fixed bar 28 that connects two rotating bars, and locking connection block 29 is enclosed within arm bar 30 , by adjusting the length of the rotating rod to control the up and down movement of the mechanical jaw 32, there is a further fixing device in the manipulator jaw 32, and the fixing device is composed of a piece of iron sheet 33 and a threaded rod 34 that are provided with grooves. The fixing device further defines the position of the shift lever through the grooved iron sheet 33, and fixes it through the nut.

Referring to Fig. 9, the control structure of the clutch mechanical leg includes a suspension ring group 35, a moving plate 36, a linear motor 37, a mechanical leg push rod 38, a large baffle 39, a spring 40, a small baffle 41, a bolt connection 42, and a splint group 43 , ring group 35, linear motor 37, large baffle plate 39 and splint group 43 are respectively fixed on the moving plate 36, mechanical leg push bar 38 is fixedly connected with linear motor 37, spring 40 is respectively connected with large baffle plate 39 and small baffle plate 41 Affixed, large baffle plate 39 has a hole so that it does not hinder the forward and backward movement of mechanical leg push bar 38, small baffle plate 41 is fixedly connected with mechanical leg push bar 38, and bolt connection 42 connects the upper and lower splints of splint group 43.

Referring to Fig. 10, the brake mechanical leg control structure includes a suspension ring group 44, a moving plate 45, a linear motor 46, a mechanical leg push rod 47, a large baffle 48, a spring 49, a small baffle 50, a bolt connection 51, and a splint group 52, suspension ring group 44, linear motor 46, large baffle plate 48 and splint group 52 are respectively fixed on the mobile plate 45, mechanical leg push rod 47 is fixedly connected with linear motor 46, and spring 49 is respectively connected with large baffle plate 48 and small baffle plate 50 is affixed, and big baffle plate 48 has a hole so that it does not hinder the forward and backward movement of mechanical leg push bar 47, and small baffle plate 50 is affixed with mechanical leg push bar 47, and bolt connection 51 connects the upper and lower splints of splint group 52.

Referring to Fig. 11, the throttle mechanical leg control structure includes a suspension ring group 53, a moving plate 54, a linear motor 55, a mechanical leg push rod 56, a small baffle 57, a spring 58, a large baffle 59, a bolt connection 60, and a splint group 61 , 53 groups of suspension rings, linear motor 55, large baffle 59 and splint group 61 are respectively fixed on the moving plate 54, the mechanical leg push rod 56 is fixedly connected with the linear motor 55, and the spring 58 is connected with the small baffle 57 and the large baffle 59 respectively. Affixed, large baffle plate 59 has a hole so that it does not hinder the forward and backward movement of mechanical leg push rod 56, small baffle plate 57 is fixedly connected with mechanical leg push rod 56, and bolt connection 60 connects the upper and lower splints of splint group 61.

12 and 13, the execution links of the three mechanical legs have the same structure, including the bottom plate of the mechanical leg chassis 62, the mechanical leg push rod 63, the sliding sleeve 64, the mechanical leg thigh rod 65, the mechanical leg calf rod, the threaded plug 69, the card Claw 70, splint 71, support plate 72, wherein mechanical leg calf rod comprises upper threaded rod 66, threaded sleeve 67, lower threaded rod 68, upper threaded rod 66 and lower threaded rod 68 screw in the opposite direction, mechanical leg chassis bottom plate 62 There is a guide groove 74, the splint 71 and the mechanical leg chassis bottom plate 62 are connected by the guide groove 74 bolts, the thigh bar 65 is connected with the support plate 72 in rotation, the splint 71 is fixedly connected with the support plate 72, and the sliding sleeve 64 is provided with a protrusion and the mechanical leg The push rod 63 is rotatably connected, the mechanical leg thigh bar 65 is rotatably connected with the mechanical leg calf bar, the lower threaded rod 68 is connected with the threaded plug 69 ball hinges, and the threaded plug 69 is threaded with the claw 70 .

13, the guide rod 78 and the guide rod 79 are respectively fixed on the side plate 73 of the mechanical leg chassis, the ring group 35, the ring group 44, and the ring group 53 are respectively slidably connected to the guide rod 79, the splint group 43, the splint group 52, The splint sets 61 are respectively slidably connected with the guide rods 78 . Through the degree of screwing of the bolt connection, the degree of opening and closing of the splint group 43, the splint group 52, and the splint group 61 can be controlled, so that the splint group is fixed on a certain position of the guide rod 78, and the lifting ring group moves left and right on the guide rod 79. The left and right movement of the control link of the mechanical leg can be realized. With reference to Figures 11 and 12, through the screwing degree of the bolt connection and the guiding effect of the guide groove 74, the left and right movement and fixation of the execution link of the mechanical leg can be realized. Through the left and right synchronous movement of the mechanical leg control and execution link, it can adapt to the pedal distance of different models.

Referring to FIG. 9 , when the linear motor 37 is at the maximum stroke, the spring 40 is in the original length state. During the movement process of stepping on the clutch pedal, the output force of the linear motor 37 acts on the mechanical leg push rod 38 to push the mechanical leg push rod 38 to move forward, and at the same time, the spring 40 begins to stretch.

Referring to FIG. 10 , when the linear motor 46 is at the maximum stroke, the spring 49 is in the original length state. During the movement process of stepping on the brake pedal, the output force of the linear motor 46 acts on the mechanical leg push rod 47 to push the mechanical leg push rod 47 to move forward, and at the same time, the spring 49 begins to stretch.

Referring to FIG. 11 , when the linear motor 55 is at the minimum stroke, the spring 58 is in the original length state. During the movement process of stepping on the accelerator pedal, the output force of the linear motor 55 acts on the mechanical leg push rod 56 to push the mechanical leg push rod 56 to move forward, and at the same time, the spring 58 starts to compress. When an emergency occurs, by the restoring force of spring 40, spring 49, and spring 58, the actions of stepping on the clutch, stepping on the brake, and releasing the accelerator are realized.

12, the mechanical leg push rod 63 pushes the sliding sleeve 64 to move up and down on the mechanical leg thigh rod 65, controls the rotation angle of the mechanical leg thigh rod 65, and realizes the action of stepping on and lifting the pedal. Through the clockwise and counterclockwise rotation of the threaded sleeve 67 along the axis, the length of the calf rod can be adjusted to achieve the purpose of adapting to different models.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. An unmanned robot for automobiles, characterized in that: comprising a steering manipulator, a shifting mechanical hand case (21), a shifting manipulator control structure, a shifting manipulator, three mechanical legs, three mechanical leg control structures and Mechanical leg chassis (73), the three mechanical legs are clutch mechanical legs, braking mechanical legs and throttle mechanical legs, and the control structures of the three mechanical legs are clutch mechanical leg control structure, braking mechanical leg control structure and throttle mechanical leg In the control structure, the mechanical leg case (73) is arranged on the driver's seat in the vehicle, the top of the mechanical leg case (73) is fixedly connected with the bottom of the shifting mechanical hand case (21), and the steering manipulator is fixed on the top of the shifting mechanical mobile case. 2. The unmanned robot for automobiles according to claim 1, characterized in that: the steering manipulator part includes a lower base plate (13), four arms (12), a screw (14), a screw guide Rod (16), upper top plate (11), large screw (15), small screw (3), motor splint (2), servo motor (1), universal coupling (6), reducer (4), Connecting shaft (5), steering claw disc (10), and steering gripper (7); among them, two large screw rods (15) are placed on the shifting mobile phone box in parallel, and the lower base plate (13) is installed on the two large screw rods (15) and the two ends of the lower bottom plate (13) are respectively connected with two large screws (15), the lower bottom plate (13) can move axially along the large screw rods, and the four arms (12) are divided into two groups, each Two arms (12) form a scissor structure to connect the lower bottom plate (13) and the upper top plate (11), the screw (14) is connected to the upper top plate (11), and the arm is connected through the screw guide rod (16). Rod (12), the other two small screws (3) are installed in parallel on the upper top plate (11), the servo motor (1) is clamped by the motor splint (2), set on the two small screws (3), and can be moved along The small screw moves axially, the reducer (4) is connected to the servo motor (1), one end of the connecting shaft (5) is connected to the output end of the reducer (4), and the other end is connected to the universal coupling (6). The output end of the coupling (6) is fixedly connected to the steering claw (10), and three steering grippers (7) are provided, fixed on the steering claw (10), and movably connected with the steering wheel. 3. The unmanned robot for automobiles according to claim 2, characterized in that: the steering claw (10) includes a boom (9) and a small arm (8); wherein the steering claw (10 ) is fixedly connected with the universal coupling (6), the boom (9) is set axially along the steering pawl (10), the small arm (8) is connected to the boom by a nut, and the steering handle (7) is fixed on the forearm (8). 4. The unmanned robot for automobiles according to claim 1, characterized in that: the shift manipulator control structure includes a guide rail (17), a two-degree-of-freedom mechanism for a rotating rod, a support mechanism, and a linear rotary motor ( 18), the linear rotary motor (18) is fixed on the guide rail seat (20) of the guide rail (17), the guide rail seat (20) is fixed on the shifting mechanical mobile phone case (21), and one end of the rotating shaft of the linear rotary motor (18) is connected to the The reducer (22) is fixedly connected, the bottom of the reducer (22) is fixedly connected with the guide rail (17), and the rotating rod two-degree-of-freedom mechanism includes a guide rail (17), three rotating rods (24), (25), (26) A reducer (22), two fixed rods (27), (28), the rotating rod is composed of two grooved rods, the length of the rotating rod is adjusted by fixing the position of the groove with nuts and screws, and the output shaft of the motor (19) is both a straight line and a rotating output shaft. The other end of the reducer (22) is rotationally connected to a rotating rod (24), and the three rotating rods (24), (25), and (26) pass through two fixed rods (27), (28) are connected, and other two rotating rods (25), (26) and guide rail (17) are connected by rotation. 5. The unmanned robot for automobiles according to claim 4, characterized in that: the support structure is composed of a support device (80), a fixed guide rail slide (81), and a triangular mount (82), It is used to support the two-degree-of-freedom mechanism of the guide rail and the rotating rod. 6. The unmanned robot for automobiles according to claim 4, characterized in that: the shift manipulator control structure also includes an angular displacement sensor and a linear displacement sensor. 7. The unmanned robot for automobiles according to claim 4, characterized in that: the shift manipulator includes a locking connection block (29), an arm rod (30), a ball handle (31) and a mechanical Claw (32), one end of the arm rod (30) is connected with the fixed rod (27) connecting two rotating rods, the locking connection block (29) is sleeved on the arm rod (30), and the length of the rotating rod is adjusted to Control the up and down movement of the mechanical claw (32). A fixing device is arranged inside the manipulator claw (32). The fixing device is composed of a piece of iron sheet (33) with a groove and a threaded rod (34). The fixing device connects the shift lever The position is further limited by the grooved iron sheet (33), and fixed by nuts. 8. The unmanned robot for automobiles according to claim 1, characterized in that: the clutch mechanical leg control structure includes a first ring group (35), a first moving plate (36), a first straight line Motor (37), first mechanical leg push rod (38), first large baffle (39), first spring (40), first small baffle (41), first bolt connection (42), first The splint group (43), the first lifting ring group (35), the first linear motor (37), the first large baffle (39) and the first splint group (43) are respectively fixed on the first moving plate (36) , the first mechanical leg push rod (38) is fixedly connected to the first linear motor (37), the first spring (40) is fixedly connected to the first large baffle (39) and the first small baffle (41), respectively, The first large baffle (39) has a hole so that it does not hinder the forward and backward movement of the first mechanical leg push rod (38). The first small baffle (41) is fixedly connected with the first mechanical leg push rod (38). A bolt connection (42) connects the upper and lower splints of the first splint group (43). 9. The unmanned robot for automobiles according to claim 1, characterized in that: the brake mechanical leg control structure includes a second suspension ring group (44), a second moving plate (45), a second straight line Motor (46), second mechanical leg push rod (47), second large baffle plate (48), second spring (49), second small baffle plate (50), second bolt connection (51), second The splint group (52), the second lifting ring group (44), the second linear motor (46), the second large baffle plate (48) and the second splint group (52) are respectively fixed on the second moving plate (45), The second mechanical leg push rod (47) is fixedly connected to the second linear motor (46), the second spring (49) is respectively fixedly connected to the second large baffle (48) and the second small baffle (50), and the second The large baffle (48) has a hole so that it does not hinder the forward and backward movement of the second mechanical leg push rod (47), the second small baffle (50) is fixedly connected with the second mechanical leg push rod (47), and the second bolt The connection (51) connects the upper and lower splints of the second splint group (52). 10. The unmanned robot for automobiles according to claim 1, characterized in that: the throttle mechanical leg control structure includes a third ring group (53), a third moving plate (54), a third linear motor (55), the third mechanical leg push rod (56), the third small baffle (57), the third spring (58), the third large baffle (59), the third bolt connection (60), the third splint group (61), the third suspension ring group (53), the third linear motor (55), the third large baffle plate (59) and the third splint group (61) are respectively fixed on the third moving plate (54), the third The three mechanical leg push rods (56) are fixedly connected to the third linear motor (55), the third spring (58) is respectively fixedly connected to the third small baffle (57) and the third large baffle (59), and the third large The baffle (59) has a hole so that it does not hinder the forward and backward movement of the third mechanical leg push rod (56), the third small baffle (57) is fixedly connected with the third mechanical leg push rod (56), and the third bolt is connected (60) Connect the upper and lower splints of the third splint group (61).