CN202255893U - Driving executing mechanism for automobile testing - Google Patents

Abstract

The utility model belongs to the technical field of automatic driving devices for automobile tests, and relates to a driving executive mechanism for automobile tests, which includes a throttle mechanical leg, a brake mechanical leg, a clutch mechanical leg and a shifting manipulator. The gear shifting manipulator includes a gear selection motor, a Gear motor, gear selection shaft, gear shift shaft, boom I, boom II, boom III, small arm I, small arm II, two L-shaped adjustment arms, wrist connecting rod, elbow joint and shift lever cover cylinder; the elbow joint includes an elbow joint shaft I, an elbow joint shaft II, an elbow joint shaft bracket I, an elbow joint shaft bracket II and a pin shaft. The robot of the utility model can adapt to vehicles of different types and different gear shifting forms, and can coordinate and control to realize various working conditions of the vehicle.

Description

A driving actuator for automobile test

technical field

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

Background technique

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

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

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

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

The mechanical transmission form of the car test driving robot can adopt the rack and pinion type. The advantage of this form is accurate positioning, but the disadvantage is that the structure is complex, the stroke of the rack is large, and the size of the whole machine is large; the angle control two-force rod type has the advantage of structure Simple and maintenance-free, but complicated to control; the pulley wire type has a compact structure, reduces the size of the whole machine, is easy to install and maintain, and has precise control.

Utility model content

Aiming at the deficiencies of the prior art, the purpose of this utility model is to provide an electric driving robot device that can replace human drivers to carry out automobile tests, especially automobile durability tests. It can adapt to different types of vehicles with different gear shifting forms. It is installed in the cab without modifying the vehicle, and can coordinately control the throttle mechanical leg, brake mechanical leg, clutch mechanical leg and shifting mechanical arm. According to the test According to the requirements of working conditions, the car's starting, shifting, acceleration, steady speed, deceleration, idling and other working conditions were realized, and the test was successfully completed. The technical scheme of the utility model is as follows:

A kind of driving actuator for automobile test, comprising throttle mechanical leg, brake mechanical leg, clutch mechanical leg and shifting manipulator, described gear shifting manipulator includes gear selection motor, gear shifting motor, gear selection motor driven by gear selection motor Shaft, shift shaft driven by shift motor, boom I, boom II, boom III, arm I, arm II, two L-shaped adjustment arms, wrist linkage, elbow joint and shift lever The sleeve, the elbow joint includes elbow joint shaft I, elbow joint shaft II, elbow joint shaft support I, elbow joint shaft support II and pin shaft, elbow joint shaft I, elbow joint shaft support I and elbow joint shaft support II The movable connection, the elbow joint shaft bracket I is respectively connected with the upper part of the upper arm I and the upper arm II through the pin shaft, the elbow joint shaft bracket II is connected with the upper part of the upper arm III through the pin shaft, and the elbow joint shaft II and the elbow joint shaft bracket I Active connection; the gear selection shaft is connected to the lower part of the boom III through the pin shaft, and the lower parts of the boom I and the boom II are connected to the shift shaft through the pin shaft; one end of the small arm I and the small arm II is respectively connected with the elbow joint shaft II and the The elbow joint axis I is locked and connected, and the other end is respectively connected with two L-shaped regulating arms, and the shift lever sleeve is respectively connected with the two L-shaped regulating arms through the wrist connecting rod.

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

The robot of the present utility model can also include a fixed base plate and a rotating base plate arranged on it, each mechanical leg is arranged on the rotating base plate, driven by a corresponding drive unit with the same structure, and can make a reciprocating straight line along the stepping direction of the pedal Movement, the mechanical leg includes a telescopic rod outer tube, an inner tube, a spherical universal joint and a splint that fixes the mechanical leg on the pedal, and the drive unit includes a servo motor and a reducer, a drive rod, a compression spring, and a wire rope , large pulley and small pulley, the large pulley is fixedly connected with the shaft sleeve of the output shaft, the lower end surface of the large pulley is tangent to the horizontal plane of the small pulley, one end of the wire rope is wound on the large pulley, and the small pulley is fixed on the rotating bottom plate, through the small pulley The moving direction of the wire rope is perpendicular to the rotation direction of the large pulley, and the other end of the wire rope is fixedly connected to the rear end of the driving rod; the front end of the compression spring is fixed, and the rear end is connected to the rear end of the driving rod; the driving rod passes through the bearing seat of the output shaft of the reducer, and the front end It is fixedly connected with the non-rotating part of the spherical universal joint; the inner tube of the telescopic rod of the mechanical leg is connected with the non-rotating end of the spherical universal joint, and the rotating part of the spherical universal joint is fixedly connected with the pedal clip; the servo motor and reducer Fixed on the rotating bottom plate, located on one side of the drive rod and the compression spring; the drive rod is composed of four thin rods, and the edge of the small pulley is on a horizontal line with the center of the drive rod; the drive unit of each mechanical leg also includes a The linear displacement sensor of the displacement of the driving rod, its output is used to control the servo motor; the rotating bottom plate is used to adjust the position of the mechanical leg driving unit and the corresponding pedal.

The utility model is driven by a servo motor, has large starting torque, wide operating range and low vibration; has high response speed, precision and frequency; and has excellent control characteristics.

The shift manipulator of the utility model adopts the way of vertically placing the servo motor, one drives the mechanical arm to move left or right to complete the gear selection action; the other drives the mechanical arm to move forward or backward to complete the gear shift action. The two motion processes of gear selection and gear shifting do not interfere with each other, realizing the decoupling of gear shifting action and convenient control.

The mechanical leg of the utility model adopts a pulley steel wire mechanism, and has a compact structure. Under the condition of the same transmission power, the space occupation is the smallest, the weight is light, the service life is long, the cost is low, and the installation is quick and convenient. Compression spring, the driving unit has the same muscle elasticity as a human being; on the other hand, when the power is suddenly interrupted, it can rely on the elastic force of the compression spring itself to quickly retract the executive pedal to ensure the safety of the test.

Description of drawings

Fig. 1 is the side view of the utility model complete machine.

Fig. 2 is the front view of the utility model complete machine.

Fig. 3 is a top view of the utility model complete machine.

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

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

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

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

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

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

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

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

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

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

It includes: the fixed base plate 1 of the whole machine, the rotating base plate 2, the rotating shaft 3, the adjusting bolt 4, the extension end of the clutch mechanical leg drive unit 5, the non-rotating part of the spherical universal joint 6, the bearing seat 7, the linear displacement sensor 8, and the pin shaft 9. Small pulley 10, reducer fixed bracket 11, compression spring 12, drive rod 13, drive rod seat 14, servo motor 15, reducer 16, large pulley 17, bushing 18, bearing 19, brake mechanical leg drive unit extension Outlet 20, spherical universal joint non-rotating part 21, bearing seat 22, bushing 23, large pulley 24, pin shaft 25, small pulley 26, reducer fixing bracket 27, reducer 28, servo motor 29, drive rod seat 30, drive rod 31, compression spring 32, linear displacement sensor 33, bearing 34, extension end of throttle mechanical leg drive unit 35, spherical universal joint non-rotating part 36, bearing seat 37, shaft sleeve 38, large pulley 39, deceleration Machine fixed bracket 40, reducer 41, servo motor 42, drive rod seat 43 compression spring 44, drive rod 45, linear displacement sensor 46, small pulley 47, pin shaft 48, bearing 49, clutch mechanical leg outer tube 50, lock Ring 51, clutch pedal clamp 52, spherical universal joint 53, inner tube of clutch mechanical leg 54, bearing 55, manipulator base 56, gear selection motor 57, gear shift shaft 58, bearing 59, coupling 60, gear shift motor Reducer 61, shift motor 62, big arm I63, elbow joint shaft II64, elbow joint shaft I65, big arm II66, small arm I67, L-shaped adjusting arm I68, shift lever sleeve 69, L-shaped adjusting arm II70, Forearm II71, bearing 72, gear selection shaft 73, coupling 74, gear selection motor reducer 75, wrist connecting rod I76, wrist connecting rod II77, big arm III78, elbow joint shaft bracket I79, elbow joint shaft bracket II80, pin shaft 81, angular displacement sensor 82, brake mechanical leg outer tube 83, locking ring 84, brake pedal clip 85, spherical universal joint 86, brake mechanical leg inner tube 87, throttle mechanical leg outer tube 88 , locking ring 89, accelerator pedal clip 90, spherical universal joint 91, inner tube 92 of accelerator mechanical leg.

Detailed ways

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

Please refer to Fig. 1-Fig. 3, the utility model is a kind of pulley type driving robot, comprises robot base 1, is placed on the driver's seat, and the extension end 5 of clutch mechanical leg driving unit is inserted in the outer tube 50 of clutch mechanical leg, The clutch pedal clip 52 is connected with the clutch pedal, the extension end 20 of the brake mechanical leg drive unit is inserted into the outer pipe 82 of the brake mechanical leg, the brake pedal clip 84 is connected with the brake pedal, and the extension end 35 of the extension end of the accelerator mechanical leg drive unit is inserted into the accelerator In the mechanical leg outer tube 87, the accelerator mechanical leg pedal clip 89 is connected with the accelerator pedal, and the gearshift manipulator is connected with the automobile gearshift gear lever through the shift lever sleeve 69. The adjusting bolt 4 passes through the rotating shaft 3, and is perpendicular to the extension of the rear part of the rotating base plate, the length of the adjusting bolt 4 is changed, the rotating shaft 3 rotates around its axis, and the angle between the rotating base plate 2 and the fixed base plate 1 is adjusted. Make the plane of the rotating bottom plate 2 point to the vehicle pedal, and ensure that it is approximately vertical, so that the power loss of the drive motor of the mechanical leg drive unit during work can be reduced. Manipulator big arm I63, big arm II66, big arm II78 are perpendicular to fixed base plate as far as possible, by changing the length of L-shaped adjustment arm 68 (70), the position of wrist connecting rod I76, wrist connecting rod II77, make the shift lever cover barrel socket and shift lever. The vehicle's clutch pedal, brake pedal, accelerator pedal and shift lever are connected to the robot's actuating end, realizing its non-destructive installation on the vehicle.

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

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

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

Referring to Figures 7-10, the shifting action can be decomposed into two vertical actions of gear selection and gear shifting, and it is necessary to realize the freedom of movement of the shift lever sleeve 69 in two directions. Gear shift manipulator is by gear selection servo motor 57 and gear shift servo motor 62, gear selection shaft 73, gear shift shaft 58, big arm I63, big arm II66, big arm III78, small arm I67, small arm II71, L-shaped regulating arm I 68, the L-shaped adjusting arm II70, and the shift lever sleeve 71 form. The gear selection servo motor 57 is tightly connected with the speed reducer 75, and the output shaft of the speed reducer is connected with the gear selection shaft 73 through a shaft coupling 74. Boom III78 bottom is connected with gear selection shaft 73 by pin shaft, and top is connected with elbow joint. The upper part of the big arm I63 and the big arm II66 is connected with the elbow joint, and the lower part is connected with the shift shaft 58 through the pin shaft 81 . One end of the forearm I67 and the forearm II71 are respectively locked and connected with the extension ends of the elbow joint, the elbow joint shaft II64 and the elbow joint shaft I65, through the connecting hole, and the other ends are respectively connected with two L-shaped adjustment arms. The shift rod sleeve 69 is respectively connected with two L-shaped regulating arms through wrist connecting rods I76 and II77. Adjusting the position adjustment holes of the L-shaped adjustment arms I68 and II70 can change the overall length of the small arm and adjust the front and rear positions of the shift lever sleeve. The left and right positions of the shift lever sleeve can be adjusted by adjusting the adjustment holes of the wrist connecting rods I76 and II77.

Referring to Fig. 9-10, the elbow joint connects the big arm I63, the big arm II66 and the big arm III78. Elbow joint is made up of elbow joint connecting shaft II64, elbow joint connecting shaft I65, elbow joint shaft support I79, elbow joint shaft support II80, pin shaft 81. Elbow joint connecting shaft I65 is socketed with elbow joint shaft bracket I79 and elbow joint shaft bracket II80 and can rotate around the bracket. Elbow joint shaft bracket I79 is respectively connected with the upper part of big arm I63 and big arm II66 through pin shaft 81. Elbow joint shaft The support II80 is connected with the upper part of the boom III78 through a pin shaft. The elbow joint connecting shaft II64 is socketed with the elbow joint shaft bracket I79 and can rotate around it, and the elbow joint shaft bracket I79 is connected with the big arm I63 and the big arm II66 through the pin shaft 81 respectively.

The gear selection motor 57 drives the boom III78 to turn left or right, the bottom of the boom I63 and the boom II66 is connected with the shift shaft 58 through the pin shaft, and the top is connected with the boom III78 through the elbow joint, and the boom I63 and the boom The arm II66 rotates left and right along with the big arm III78 under the drive of the elbow joint. Under the drive of the big arm III78, the elbow joint shaft support I79 and the elbow joint shaft support II80 rotate around their pin shafts 81, driving the elbow joint connection shaft II64 and the elbow joint connection shaft I65 to move horizontally to the left or right, thereby Push the small arms I67 and II71 to move horizontally to the left or right, and then the shift sleeve 69 drives the shift lever to move left and right to realize the gear selection action. Shift motor 62 drives big arm I63 and II66 to move back and forth, drives elbow joint connecting shaft II64, and elbow joint connecting shaft I65, rotates around its elbow joint shaft support 79, drives big arm III78 to move back and forth with big arm I63 and II66, completes shifting. block action. The big arm drives the small arm to move forward or backward, and the movement position of the sleeve is obtained through the angular displacement sensor 82 to complete the gear shifting action. The two motion processes of gear selection and gear shifting have high linearity and do not interfere with each other, which realizes the decoupling of the gear shifting action and facilitates the control. Through the L-shaped adjustment arm, the position of the sleeve can be adjusted to adapt to models with different driving spaces.

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

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

Claims (10)

1. A driving executive mechanism for automobile test, comprising throttle mechanical legs, braking mechanical legs, clutch mechanical legs and gear shifting manipulator, it is characterized in that, described gear shifting manipulator comprises gear selection motor, gear shifting motor, by selection The gear selection shaft driven by the gear motor, the gear shift shaft driven by the gear shift motor, the boom I, the boom II, the boom III, the small arm I, the small arm II, two L-shaped adjustment arms, the wrist connecting rod, Elbow joint and shift lever sleeve, the elbow joint includes elbow joint shaft I, elbow joint shaft II, elbow joint shaft bracket I, elbow joint shaft bracket II and pin shaft, elbow joint shaft I and elbow joint shaft bracket I and the elbow joint shaft support II are movable connected, the elbow joint shaft support I is respectively connected with the upper part of the big arm I and the big arm II through the pin shaft, the elbow joint shaft support II is connected with the upper part of the big arm III through the pin shaft, and the elbow joint shaft II It is movably connected with the elbow joint shaft bracket I; the gear selection shaft is connected with the lower part of the boom III through the pin shaft, and the lower parts of the boom I and the boom II are connected to the shift shaft through the pin shaft; one end of the small arm I and the small arm II are respectively It is locked and connected with the elbow joint shaft II and the elbow joint shaft I, and the other end is respectively connected with two L-shaped adjustment arms, and the shift lever sleeve is respectively connected with the two L-shaped adjustment arms through the wrist connecting rod. 2. The driving actuator for automobile test according to claim 1, characterized in that, the gearshift manipulator for automobile test also includes an angular displacement sensor for obtaining the motion position of the sleeve, and its output is used to control the gearshift. file action. 3. The driving actuator for automobile test according to claim 1, characterized in that, the gear selection motor is connected with its reducer, and the output shaft of the reducer is connected with the gear selection shaft through a coupling. 4. The driving actuator for automobile test according to claim 1, characterized in that, the shift motor is connected to the reducer, and the output shaft of the reducer is connected to the shift shaft through a coupling. 5. The driving actuator for automobile test according to claim 1, characterized in that, two L-shaped regulating arms of the manipulator are provided with position regulating holes for changing the overall length of the forearm; An adjustment hole for adjusting the position of the shift lever sleeve is provided. 6. The driving actuator for automobile test according to claim 1, characterized in that, the driving actuator for automobile test further comprises a fixed base plate and a rotating base plate arranged thereon, and each mechanical leg is arranged on a rotating base plate. The bottom plate is driven by the corresponding drive unit with the same structure, and can perform reciprocating linear motion along the pedal stepping direction. The mechanical legs include telescopic rod outer tubes, inner tubes, spherical universal joints and mechanical legs fixed on the pedals. The upper splint, the drive unit includes a servo motor and a reducer, a drive rod, a compression spring, a wire rope, a large pulley and a small pulley, the large pulley is fixedly connected to the shaft sleeve of the output shaft, and the lower end surface of the large pulley is horizontal to the small pulley The surface is tangent, one end of the steel wire rope is wound on the large pulley, and the small pulley is fixed on the rotating bottom plate. The direction of movement of the steel wire rope is perpendicular to the rotation direction of the large pulley through the small pulley, and the other end of the steel wire rope is fixedly connected to the rear end of the driving rod; , the rear end is connected to the rear end of the drive rod; the drive rod passes through the bearing seat of the output shaft of the reducer, and the front end is fixedly connected to the non-rotating part of the spherical universal joint; the inner tube of the telescopic rod of the mechanical leg is connected to the non-rotating end of the spherical universal joint Connection, the rotating part of the spherical universal joint is fixedly connected with the pedal clip. 7. The driving actuator for automobile test according to claim 6, characterized in that, the servo motor and the speed reducer are fixed on the rotating bottom plate at one side of the driving rod and the compression spring. 8. The driving actuator for automobile test according to claim 6, wherein the driving rod is composed of four thin rods, and the edge of the small pulley is on a horizontal line with the center of the driving rod. 9. The driving actuator for automobile test according to claim 6, wherein the driving unit of each mechanical leg further includes a linear displacement sensor for detecting the displacement of the driving rod, and its output is used to control the servo motor. 10. The driving actuator for automobile test according to claim 6, characterized in that the rotating bottom plate is used to adjust the position of the mechanical leg drive unit and the corresponding pedal. the

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