CN1621990A - Gas electric hybrid type driving robot for automobile test - Google Patents

Abstract

The gas-electric hybrid driving robot for automobile testing relates to a gas-electric hybrid driving robot device capable of replacing human test personnel on a chassis dynamometer for automobile testing. The shift manipulator control box (5) is placed in the test vehicle cab On the driver's seat (1), the accelerator mechanical leg (11) is connected with the accelerator pedal (13), the brake mechanical leg (10) is connected with the brake pedal (12), and the clutch mechanical leg (7) is connected with the clutch pedal ( 8) Connection, the gearshift manipulator (9) is connected with the automobile gearshift lever, the steering wheel fixing device (3) is used to lock the rotation of the automobile steering wheel (2) during the test, and the mechanical legs of the accelerator, brake, clutch and An angle sensor is installed on the shifting manipulator to obtain the position of each mechanical leg/hand. The driving robot has the advantages of high speed tracking accuracy, good repeatability, reliable comparison test data, etc., and can completely replace human drivers to complete various tests of cars.

Description

Gas-electric hybrid driving robot for automobile test

Technical field

The invention relates to a gas-electric hybrid driving robot device capable of replacing human test personnel for automobile tests on a chassis dynamometer, and belongs to the technical field of automatic driving devices for automobile tests.

Background technique

The driving robot for automobile test is a device that replaces the test personnel in the automobile test on the chassis dynamometer. The performance of the car needs to improve the design with the help of a large number of tests, the car performance test, reliability test and environmental test carried out on the indoor chassis dynamometer (or called the drum test bench), the exhaust gas emitted by the car, the equipment emitted Noise, changes in ambient temperature, and long-term boring driving will cause some damage to the driver, so it is more suitable for robots to operate. In addition, the rapid increase in the number of automobiles has made the pollution of automobile exhaust more and more serious. In order to protect the atmospheric environment, countries around the world have formulated increasingly strict environmental protection laws and regulations to strictly limit the content of harmful substances in automobile exhaust. To study the method of improving the fuel economy of automobiles and thereby reducing automobile exhaust emissions, a large number of automobile tests must be carried out. The test specification requires the tested vehicle to track the preset speed cycle and ensure the accuracy within ±2km/h. Changes in the driving behavior of the test personnel during the test often lead to inconsistent emission results, thereby reducing the validity of the emission data. Therefore, it is necessary to use a robot driver to replace the human driver in the driving operation of the car test under dangerous conditions and harsh environments. The use of driving robots for testing can reduce human labor intensity, reduce the damage of the test environment to the tester, and improve test efficiency. It is of great significance to enhance the objectivity and accuracy of test results, save test costs, and accelerate the progress of automobile research and development.

For this reason, many foreign companies in the world have successively developed car driving robots for experiments to replace test personnel for car driving, mainly including German STHLE, Volkswagen, American Froude Consine, British Mira, Japanese Horiba, Autopilot, Nissan Motor, etc. Company, these robots are very similar in structure, mainly composed of throttle mechanical legs, brake mechanical legs, clutch mechanical legs (for experimental vehicles equipped with automatic transmissions, clutch mechanical legs can be omitted) and shifting mechanical arms , There are mainly three driving methods: hydraulic, pneumatic and electric. The disadvantage of the hydraulic drive method is that it requires high oil tightness and complicated mechanism; although the air source is easy to obtain and the mechanism is simple in the pneumatic drive method, due to the high positioning accuracy of the throttle mechanical leg, if all the pneumatic drive methods are used, the actuator And the detection and control system is complex;

The electric method is generally driven by a DC or AC servo motor, which requires additional transmission mechanisms such as a reducer and a worm gear, which is costly. In addition, the design of the actuator is very complicated to realize the fast separation and fast and slow engagement of the clutch. At present, there is no self-driving robot device for automobile testing in China, and foreign technologies are kept as company secrets and are not disclosed to the public.

Contents of the invention

Technical problem: The purpose of the present invention is to provide a gas-electric hybrid driving robot device that can replace human testers on the chassis dynamometer for vehicle testing. It can be installed on the test vehicle without modifying the test vehicle. It is suitable for different types of vehicles with different gear distributions and different pedal strokes, and can coordinately control the throttle mechanical legs, brake mechanical legs, clutch mechanical legs and shifting mechanical arms according to the driving cycle conditions to realize the starting of the car. , gear shifting, acceleration, steady speed, deceleration and idling and other working conditions, so as to track the set vehicle speed.

Technical scheme: the technical scheme adopted by the present invention to solve its technical problems is:

The driving robot is driven by accelerator mechanical legs, brake mechanical legs, clutch mechanical legs, shifting manipulator, steering wheel fixing device, driving robot control computer, shifting manipulator control box, mechanical leg control box, data acquisition and processing module and motion control There are three mechanical leg control boxes, the left mechanical leg control box is connected with the clutch mechanical leg, the middle mechanical leg control box is connected with the brake mechanical leg, and the right mechanical leg control box is connected with the throttle mechanical leg; the shifting manipulator The control box is connected with the shift manipulator; one end of the steering wheel fixing device is connected to the steering wheel of the car, and the other end is fixed on the base handle. The driving robot control computer coordinates and controls the accelerator, brake, clutch and gear shift according to the set instructions to complete the cycle driving. Velocity tracking of the load case. The shift manipulator control box of the driving robot is placed on the driver's seat in the cab of the test car, the accelerator mechanical leg is connected to the accelerator pedal, the brake mechanical leg is connected to the brake pedal, the clutch mechanical leg is connected to the clutch pedal, and the gear is changed. Mechanical hand and car gear shift lever connection. The steering wheel fixing device is used to lock the rotation of the steering wheel of the car during the test. The chassis dynamometer test bench provides a simulated environment for the indoor test of the car, ensuring that the resistance loading characteristics of the chassis dynamometer to the test vehicle during the test run are consistent with the force of the vehicle when driving on the road. Angle sensors are installed on the throttle, brake, clutch mechanical legs and shifting mechanical arms to obtain the position of each mechanical leg/hand.

The accelerator pedal splint at the front of the accelerator mechanical leg is directly socketed on the accelerator pedal of the test vehicle, the signal output of the stepping motor control unit controls the stepping motor to decelerate and transmit torque through gears, and drives the two levers of the accelerator mechanical leg to control the vehicle accelerator; The position sensor of the throttle mechanical leg in the throttle mechanical leg is connected with the stepper motor through gear meshing to obtain the position signal of the throttle mechanical leg.

The brake mechanical leg is connected with the brake pedal by the brake pedal splint, the brake mechanical leg cylinder is hinged with the brake leg push rod, drives the movement of the brake mechanical leg two-force rod, and the brake mechanical leg cylinder is controlled by the brake pneumatic control unit Motion force; the brake mechanical leg position sensor in the brake mechanical leg is driven by the brake leg pull rod hinged with the brake leg push rod to obtain the position of the brake mechanical leg.

The clutch mechanical leg is connected with the clutch pedal by the clutch pedal splint, and the clutch mechanical leg cylinder is hinged with the clutch push rod to drive the movement of the clutch mechanical leg two-force rod, and the clutch pneumatic control unit controls the movement speed of the clutch mechanical leg cylinder; the clutch in the clutch mechanical leg The mechanical leg position sensor is driven by the clutch pull rod hinged with the clutch push rod to obtain the position of the clutch mechanical leg.

The shifting manipulator is composed of gear shifting cylinder, gear selecting cylinder, gear selecting position sensor, gear shifting position sensor, shifting handle cover, seven-link shifting manipulator; gear shifting cylinder, gear selecting cylinder and seven-link shifting manipulator are hinged , the gear shift handle sleeve is socketed with the gear lever of the test vehicle; the gear shift manipulator is connected with a gear selection position sensor and a gear shift position sensor through gear meshing at both fixed ends of the seven-link gear shift manipulator to obtain gear selection Movement position of cylinder and shift cylinder.

The throttle mechanical leg is driven by a stepping motor to achieve high-precision positioning control of the throttle; the brake mechanical leg is controlled by an adjustable braking force air circuit, and the braking deceleration can be controlled by adjusting the braking force; the clutch mechanical leg The cylinder with lock is adopted, and the recovery speed adjustable air circuit is adopted to realize the adjustment of the recovery speed of the clutch mechanical leg, which meets the speed requirements of the clutch action during the starting and shifting process; the shifting manipulator adopts a seven-link double-degree-of-freedom closed The chain shift manipulator realizes the mechanical decoupling of the movement in the two directions of gear selection and gear shifting without the need to modify the car gear shifting mechanism. It is suitable for manual gear shifting with different shift strokes and different gear distributions. gearbox; in addition, in order to prevent the deviation of the driving wheels during the test, the steering wheel fixing device locks the rotation of the steering wheel of the car.

Beneficial effect:

1. The shift manipulator control box of the driving robot is installed on the driver's seat of the cab, and there is no need to modify the test vehicle to realize the non-destructive installation of the driving robot.

2. The mechanical leg of the throttle is driven and controlled by a stepping motor, which can meet the high-precision positioning requirements of the throttle, and the motion control is convenient.

3. The mechanical legs of the brake, the mechanical legs of the clutch and the shifting manipulator are driven by air pressure, so that the driving robot moves quickly and has the quickness and suppleness of the human driver's muscles.

4. The steering wheel fixing device locks the rotation of the steering wheel of the test vehicle to prevent the deviation of the driving wheel during the test, especially for the test vehicle with front wheel drive.

5. The length of the connecting rod of the gear shifting manipulator is optimized to ensure the linearity of the trajectory of the gear selection and gear shifting movement process in the gear shifting movement area, and the two directions of gear selection, gear shifting and shifting do not interfere with each other, and the motion is linear High precision, mechanical decoupling, easy control.

6. For different types of gearboxes and different distributions of gearbox gears, the position of gear selection and gear shifting can be obtained through direct teaching. The shift manipulator has a wide range of applications, and the shift speed and shift force can be directly controlled. Tuned, suitable for all kinds of gearboxes.

7. The driving robot uses the sensors installed on each mechanical leg to obtain the strokes of the accelerator, brake and clutch pedals of different test vehicles through self-learning, so as to adapt to vehicles of different structural sizes.

8. The braking force of the braking mechanical leg is adjustable, so that the braking force can be adjusted according to the set deceleration, and can adapt to different braking characteristics of different test vehicles.

9. A position sensor is installed on the mechanical leg of the clutch, which can obtain the position of the joint area of the clutch of the test vehicle to ensure the stability of the car starting and shifting process. In addition, the clutch recovery speed can be dynamically adjusted, so that the "fast-slow-fast" driving action of clutch recovery during the shifting process can be realized, and the impact of the shifting process can be reduced.

Description of drawings

Fig. 1 is a side view of the present invention installed in the cab of a car.

Fig. 2 is a top view of the present invention installed in the cab of a car.

Fig. 3 is a block diagram of the computer detection control system of the present invention.

Fig. 4 is a mechanical structure diagram of the shift manipulator of the present invention.

Fig. 5 is a mechanical structure diagram of the throttle mechanical leg.

Fig. 6 is a diagram of the mechanical structure of the braking mechanical leg.

Fig. 7 is a mechanical structure diagram of the clutch mechanical leg.

Among them: driver's seat 1, automobile steering wheel 2, steering wheel fixing device 3, base handle 4, shift manipulator control box 5, clutch mechanical leg control box 6, clutch mechanical leg 7, clutch pedal 8, shift manipulator 9 , brake mechanical leg 10, accelerator mechanical leg 11, brake pedal 12, accelerator pedal 13, driving robot control computer 14, driving robot signal control output module 15, signal conditioning module 16, engine speed measurement module 17, vehicle speed measurement module 18. Control system air source 19, manipulator pneumatic control unit 20, stepping motor control unit 21, brake pneumatic control unit 22, clutch pneumatic control unit 23, shifting cylinder 24, shifting cylinder 25, shifting position sensor 26, shifting Gear position sensor 27, gear shift handle cover 28, seven-link gear shift manipulator 29, accelerator pedal splint 30, throttle mechanical leg two force rod 31, gear 32, throttle mechanical leg position sensor 33, stepper motor 34, brake mechanism Leg cylinder 35, brake mechanical leg position sensor 36, brake leg pull rod 37, brake leg push rod 38, brake mechanical leg two-force rod 39, brake pedal splint 40, clutch mechanical leg cylinder 41, clutch mechanical leg position Sensor 42, clutch pull rod 43, clutch push rod 44, clutch mechanical leg two force bar 45, clutch pedal clamping plate 46.

Detailed ways

The car driving robot is a gas-electric hybrid automatic driving device used on the chassis dynamometer test bench to replace human testers for car tests. In order to realize the indoor simulation of the road test, the test car must be placed on the chassis dynamometer to simulate the straight road conditions, thereby providing a test environment for the car test, and the chassis dynamometer is loaded with resistance to the test vehicle during the test run The characteristics are consistent with the force of the vehicle when driving on the road.

In Fig. 1, 2, whole driving robot is made up of accelerator mechanical leg 11, braking mechanical leg 10, clutch mechanical leg 7, shifting manipulator 9 and steering wheel fixing device 3, and shifting manipulator control box 5 is placed in the test car cab. On the driver's seat 1, the accelerator mechanical leg 11 is connected to the accelerator pedal 13, the brake mechanical leg 10 is connected to the brake pedal 12, the clutch mechanical leg 7 is connected to the clutch pedal 8, and the shift manipulator 9 passes through the shift handle cover 28 Connect with the automobile gearshift gear lever, one end of the steering wheel fixing device 3 is connected with the base handle 4 of the shift manipulator control box 5, and the other end is socketed on the automobile steering wheel 2 to prevent the rotation of the automobile steering wheel 2 from being locked during the test. The control box of the mechanical leg is installed under the steering wheel, and there is no need to modify the test vehicle, so as to realize the non-destructive installation of the driving robot.

Gearshift manipulator 9, brake mechanical leg 10, clutch mechanical leg 7 are driven by air pressure, and the working medium is clean compressed air provided by air source 19, which has the characteristics of fast speed, compressibility and impact resistance, and is compatible with human muscles The elasticity and compliance are relatively consistent, ensuring fast and powerful shifting process, full of elasticity and quick separation of the clutch. The throttle mechanical leg is driven and controlled by a stepping motor, which can meet the high-precision positioning requirements of the throttle, and the motion control is convenient.

Gearshift manipulator 9 is made up of gear cylinder 24 among Fig. 4, gear selection cylinder 25, gear selection position sensor 26, gear shift position sensor 27, gear shift handle cover 28 and seven-link gear shift manipulator 29. The gear-hanging cylinder 24, the gear-selecting cylinder 25 and the seven-link gear-shifting manipulator 29 are hinged, and the gear-shifting handle cover 28 is socketed with the test car gear lever. In the shift manipulator 9, the two fixed ends of the seven-link shift manipulator 29 are connected with a gear selection position sensor 26 and a gear position sensor 27 engaged by gears to obtain the position of the gear selection cylinder 25 and the gear cylinder 24. exercise position. The gear-hanging cylinder 24 and the gear-selecting cylinder 25 all adopt the mode that one end is fixed, and the other end can rotate freely. The length of the connecting rod is optimally designed to ensure the linearity of the trajectory of the gear selection and gear shifting motion process in the gear shifting motion range. The cylinder adopts a cylinder with a lock. When both directions are unlocked, the tester teaches. After shifting to a certain gear position, the gear position sensor 26 and the gear position sensor 27 are used to record the position of the gear position. During the shifting process, the working medium of the pneumatic transmission is air, which has the characteristics of fast speed, compressibility and impact resistance, and is more consistent with the elasticity and flexibility of human muscles, making the shifting process fast, powerful and flexible. By adjusting the air supply pressure of the shifting cylinder and the opening of the exhaust port of the cylinder, the shift force and shift speed can be adjusted, so that the shift manipulator can be applied to automatic shift occasions of various specifications of gearboxes. Through the direct teaching of the test personnel, the seven-link shift manipulator learns the gear selection and shift position of the gearbox. The shift action of the manipulator is directly realized by the extension and retraction control of the shifting cylinder 24 and the shifting cylinder 25. The mechanical Decoupling, easy to control.

In Fig. 5, the accelerator pedal splint 30 in the accelerator mechanical leg 11 is directly socketed on the accelerator pedal 13 of the test vehicle, and the signal output of the stepping motor control unit 21 controls the stepping motor 34 to decelerate and transmit the torque through the gear 32 to drive the accelerator mechanical leg Two power rods 31 control the automobile throttle. The stepper motor control unit 21 controls the pulse output by the output module 15 according to the signal of the driving robot to turn through the command angle and precisely control the accelerator pedal 13 . The throttle mechanical leg position sensor 33 in the throttle mechanical leg 11 is connected to the stepper motor 34 through gear engagement, and the position of the throttle mechanical leg 11 is obtained during the rotation of the stepper motor 34 . The arm length of the throttle mechanical leg two-force lever 31 can be adjusted, thereby adapting to models of different gas pedal sizes.

Utilize brake pedal splint 40 and brake pedal 12 to connect in the brake mechanical leg 10 in Fig. 6, brake mechanical leg cylinder 35 and brake leg push rod 38 are hinged, drive brake mechanical leg two-force rod 39 to move. The output air pressure of the brake pneumatic control unit 22 can be adjusted by controlling the voltage to control the movement force of the brake mechanical leg cylinder 35, changing the braking force of the brake mechanical leg 10, thereby changing the deceleration during the braking process of the vehicle. The braking mechanical leg position sensor 36 in the braking mechanical leg 10 is driven by the braking leg pull rod 37 hinged with the braking leg push rod 38 to obtain the position of the braking mechanical leg 10 . The arm length of the brake mechanical leg two-force lever 39 can be adjusted, thereby adapting to models of different brake pedal sizes.

Utilize clutch pedal splint 46 and clutch pedal 8 to be connected in the clutch mechanical leg 7 among Fig. 7, clutch mechanical leg cylinder 41 and clutch push rod 44 are hinged, drive clutch mechanical leg two-force lever 45 motions. The clutch pneumatic control unit 23 can adjust the opening of the air valve when the cylinder is recovered, and control the movement speed of the clutch mechanical leg cylinder 41 so as to realize the adjustment of the recovery speed of the clutch mechanical leg, meet the speed requirements of the clutch action in the starting and shifting process, and reduce the speed of shifting. Block the impact of the process. The clutch mechanical leg position sensor 42 in the clutch mechanical leg 7 is driven by the clutch pull rod 43 hinged with the clutch push rod 44 to obtain the position of the clutch mechanical leg 7 . The arm length of the clutch mechanical leg two-force lever 45 can be adjusted, thereby adapting to models of different clutch pedal sizes.

The engine speed measurement module 17 converts the engine speed of the test vehicle into an analog voltage, and transmits it to the control computer 14 through the signal conditioning module 16, and the vehicle speed measurement module 18 obtains the speed of the test vehicle from the photoelectric sensor installed on the front drum of the chassis dynamometer. Speed is also passed into the driving robot control computer 14.

After the driving robot is installed and fixed on the test vehicle, the driving robot control computer 14 first uses the sensors installed on each mechanical leg to obtain the strokes of the accelerator, brake and clutch pedals of different test vehicles, and establishes a benchmark for motion control, thereby adapting to different structures. Dimensions of the test vehicle. Then through the signal control output module 15, respectively control the accelerator mechanical leg 11, the brake mechanical leg 10, and the clutch mechanical leg 7 to press down and recover, and shift gears according to the requirements of the test working conditions. In the test cycle conditions of the vehicle, test conditions such as starting, stopping, acceleration, deceleration, gear shifting, and idling of the test vehicle are specified, and a series of vehicle speeds at time points are defined, and the tracking accuracy of the vehicle speed is required to be ±2km/h. The driving robot control computer 14 coordinates and controls the throttle, brake, clutch and gear shift according to the current speed of the test vehicle and the working conditions, and controls the throttle and the gear according to the deviation between the set speed and the current speed in the speed-up, deceleration and steady-speed stages of the speed tracking. The recovery and depressing of the brakes ensure that the control accuracy of the vehicle speed is within the required range, and improve the accuracy of the test and the validity of the test data.

Because during the test, when the starting acceleration of the car is too large or the braking force of the driving wheel brake system is unevenly distributed during the braking process of the test car, the test car will deviate, the steering wheel fixing device (3) can be used during the test. Lock the steering wheel (2) of the car to ensure the smooth progress of the test and protect the car under test from damage.

The driving robot adopts a modular design method, in which the clutch mechanical leg (7) can be installed or removed, so as to adapt to the different control requirements for the clutch of the automatic shift (AT) car and the manual shift car (MT), and improve the model of the driving robot. adaptability.

Claims (5)

1. A gas-electric hybrid driving robot for automobile test is characterized in that this driving robot consists of accelerator mechanical legs (11), braking mechanical legs (10), clutch mechanical legs (7), shifting manipulators (9), The steering wheel fixing device (3), the driving robot control computer (14), the shift manipulator control box (5), the mechanical leg control box (6), the data acquisition and processing module and the motion control drive part; the mechanical leg control box (6 ) has three, the mechanical leg control box on the left is connected with the clutch mechanical leg (7), the mechanical leg control box in the middle is connected with the brake mechanical leg (10), and the mechanical leg control box on the right is connected with the throttle mechanical leg (11); The shift manipulator control box (5) is connected with the shift manipulator (9); one end of the steering wheel fixing device (3) is connected to the automobile steering wheel (2), and the other end is fixed on the base handle (4), and the driving robot controls the computer (14 ) coordinately controls accelerator, brake, clutch and gear shift according to the set instructions, and completes the speed tracking of cycle driving conditions. 2. The gas-electric hybrid driving robot for automobile testing according to claim 1, characterized in that the accelerator pedal splint (30) at the front of the accelerator mechanical leg (11) is directly socketed on the accelerator pedal (13) of the test vehicle , the signal output of the stepper motor control unit (21) controls the stepper motor (34) to decelerate and transmit the torque through the gear (32), and drives the throttle mechanical leg two force lever (31) to control the automobile throttle; in the throttle mechanical leg (11) The throttle mechanical leg position sensor (33) is connected with the stepper motor (34) through gear meshing, to obtain the position signal of the throttle mechanical leg (11). 3. The gas-electric hybrid driving robot for automobile test according to claim 1, characterized in that the brake mechanical leg (10) utilizes a brake pedal splint (40) to connect with the brake pedal (12), and the brake mechanical leg Cylinder (35) is hinged with brake leg push rod (38), drives the motion of brake mechanical leg two-force rod (39), and is controlled the motion strength of brake mechanical leg cylinder (35) by brake pneumatic control unit (22); Brake mechanical leg position sensor (36) in moving mechanical leg (10) is driven by the brake leg pull bar (37) hinged with brake leg push rod (38), obtains the position of brake mechanical leg (10). 4. The gas-electric hybrid driving robot for automobile test according to claim 1, characterized in that the clutch mechanical leg (7) utilizes the clutch pedal splint (46) to be connected with the clutch pedal (8), and the clutch mechanical leg cylinder (41) It is hinged with the clutch push rod (44) to drive the movement of the clutch mechanical leg two-force lever (45), and the clutch mechanical leg cylinder (41) is controlled by the clutch pneumatic control unit (23); the clutch mechanical leg in the clutch mechanical leg (7) The leg position sensor (42) is driven by the clutch pull rod (43) hinged with the clutch push rod (44) to obtain the position of the clutch mechanical leg (7). 5. The gas-electric hybrid driving robot for automobile test according to claim 1, characterized in that the shift manipulator (9) is composed of a gear cylinder (24), a gear selection cylinder (25), a gear selection position sensor (26) , gear shift position sensor (27), shift handle cover (28), seven-link shift manipulator (29); gear shift cylinder (24), gear selection cylinder (25) and seven-link shift manipulator (29) ) is hinged, and the shift handle cover (28) is socketed with the gear lever of the test vehicle; the shift manipulator (9) is connected with a gear selection position sensor through gear meshing at both fixed ends of the seven-link shift manipulator (29) (26) and gear-engagement position sensor (27), are used for obtaining the motion position of gear selection cylinder (25) and gear-engagement cylinder (24).

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