CN102637058A - Automatic drive robot - Google Patents
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- CN102637058A CN102637058A CN2011102476517A CN201110247651A CN102637058A CN 102637058 A CN102637058 A CN 102637058A CN 2011102476517 A CN2011102476517 A CN 2011102476517A CN 201110247651 A CN201110247651 A CN 201110247651A CN 102637058 A CN102637058 A CN 102637058A
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Abstract
The invention discloses an automatic drive robot, which can complete a driving task in place of people. The automatic drive robot comprises a body part, a visual signal acquisition part, a steering wheel control part, a gear shifting part and a drive leg part; and the automatic drive robot is characterized in that the body part comprises a base, a horizontal sliding platform, a horizontal locking mechanism, a vertical sliding rail, a vertical slide block and a vertical locking mechanism, wherein the horizontal sliding platform is supported on the base and can move forwards and backwards relative to the base, the horizontal locking mechanism is used for locking the horizontal sliding platform relative to the base, the vertical sliding rail is arranged on the horizontal sliding platform, the vertical slide block is arranged on the vertical sliding rail in a sliding manner, the vertical locking mechanism is used for locking the vertical slide block relative to the vertical sliding rail, and the steering wheel control part is connected with the vertical slide block. The automatic drive robot disclosed by the invention has good adaptability, and can adapt to vehicles with steering wheels in different heights and sizes; and the automatic drive robot is low in noise and high in control precision. In addition, the vehicles do not need to be modified in the using process of the automatic drive robot, and therefore the structure integrity of the vehicles can be ensured.
Description
Technical field
What the present invention relates to is the device in a kind of vehicle drive field, specifically is a kind of automatic drive robot that can replace human completion driving task.
Background technology
The appearance of vehicle is very easy to people's production and life, tends to let the driver tired out but drive for a long time, has consumed people's great amount of time and energy.Therefore, along with the continuous development of intelligent and automatic technology, People more and more is thirsted for the driving task and can be replaced by robot.In addition, at each working condition experimenting of vehicle, for example all need long repeatable operation process in the experiments such as economy, dynamic property, permanance, the data information that also need provide the limit to drive sometimes.If accomplishing these experiments by manual work fully can make human body produce many discomforts even damage and dangerous.The appearance of drive robot can be fine address this problem.It can not only substitute the artificial various experimental duties of accomplishing, and stability is high, good reproducibility, has become requisite intelligent device in the modern vehicle test.
Find through the existing document of retrieval; One Chinese patent application number is CN200410065844.0, and the patent that name is called " gas electric hybrid type driving robot for automobile test " discloses the pilot instrument that is graded and formed by three kinds of driving legs, gearshift mechanical arm, bearing circle stationary installation, drive robot control computer, gearshift mechanical arm control box, driving leg control box, data acquisition and processing module and motion control drive division.Described drive robot can be accomplished corresponding action behind the signal that receives the control computer setting, therefore can replace the driver to accomplish the vehicle performance test to a certain extent.But also there are some defectives in this patent.At first, in this invention, fix bearing circle with specific stationary installation, so the rotation of the uncontrollable steering wheel for vehicle of system, this makes the scope of application of this robot have certain limitation.In addition, used pneumatic means in this system, so need to be equipped with source of the gas.On the one hand, the appearance of source of the gas has increased the weight and volume of system, and on the other hand, pneumatic means also can increase the complexity and the manufacturing cost of system.Simultaneously, owing to reasons such as gas leakage, the bearing accuracy of pneumatic means is often not fully up to expectations, and then influences the control accuracy of this drive robot to vehicle, and pneumatic means tends to send noise in the course of the work.
Summary of the invention
Technical matters to be solved by this invention is to propose a kind of automatic drive robot brand-new, that structure is more optimized, solves the various defectives that big deficiency of existing automatic drive robot scope of application limitation and pneumatic means are introduced.
The technical scheme that the present invention adopted is: a kind of automatic drive robot comprises body part, visual signal collecting part, bearing circle control section, gearshift part and driving leg part; Said body partly comprises base, be supported on the base and relatively the horizontal slip platform that moves forward and backward of base, be used for the horizontal lock mechanism of the relative base locking of horizontal slip platform, be arranged on upright slide rail on the horizontal slip platform, be slidingly arranged in upright slide block on the upright slide rail, be used for vertical locking mechanism the relative upright slide rail locking of upright slide block, said bearing circle control section is connected with said upright slide block.
Preferably, rotate on the said base and be provided with position adjustment handle, said position adjustment handle one end is fixed with gear; Said horizontal slip platform is provided with tooth bar, and above-mentioned rack and pinion constitutes pinion and rack.Said body partly is connected with one group of two parallel-crank mechanism, and said pair of parallel-crank mechanism is connected with the gearshift part; Said pair of parallel-crank mechanism has the rotational freedom of two surface levels; And connect rotating shaft place in the middle of two parallel-crank mechanisms and be provided with the eccentric wheel locking mechanism, the eccentric wheel excircle of said eccentric wheel locking mechanism can lock the revolute pair of said pair of parallel-crank mechanism.
Said vision collecting partly comprises head, first worm couple, second worm couple, gear case, first motor, second motor and stationary installation; Said stationary installation is two of symmetric arrangement; Be fixedly attached to the body part respectively; One of them stationary installation is provided with first motor; Said first motor is connected with the worm screw of first worm couple, and the worm gear of first worm couple is fixedly connected with gear case, and said gear case also is rotationally connected with another stationary installation; Said second motor is fixed in the gear case, and is connected with the worm screw of second worm couple, and the worm gear of second worm couple is fixedly connected with head.
Described bearing circle control section comprises locking mechanism, actuating unit, chuck mechanism and manipulator mechanism; Said actuating unit comprises the 3rd motor, the speed reduction unit and the scrambler that are connected with the 3rd motor; Chuck mechanism is connected with speed reduction unit; Said manipulator mechanism is three, and can be along the radial motion of said chuck mechanism.Said locking mechanism comprises fixture, spiral handle, slide block and guideway; Said fixture partly is connected with body, and said guideway is fixedly connected with actuating unit; Said slide block slides and is plugged in the guideway, and said spiral handle has screw thread, and is threaded with said slide block, and said fixture turning set is located on the spiral handle; Said slide block have with fixture against the working position, the locking of the relative guideway of fixture this moment.Said manipulator mechanism comprises spiral knob, threaded guide rod, pedestal, two grippers, two mechanical arm connecting rods; Said threaded guide rod is plugged in the unthreaded hole of pedestal, and is threaded with the spiral knob; Said gripper is rotatably connected on the pedestal, and mechanical arm connecting rod one end connects gripper, the other end connects threaded guide rod.
Described gearshift part comprises web joint, sleeve, preceding driving lever, back driving lever, four connecting rods; Said web joint connects said gearshift part and body part; Driving lever, back driving lever drive by the driven by motor worm couple before said; Said preceding driving lever and back driving lever are formed one with four connecting rods and are had the binary linkage assembly in plane; Be connected with sleeve on the said linkage assembly.Said sleeve has opening down, and sliding in the said opening is provided with sliding cylinder, and sliding cylinder is connected with the shift handle of vehicle, is connected through spring between the top of said sliding cylinder and sleeve.
Described driving leg partly comprises housing, cap, motor cabinet, speed reduction unit seat, driving leg stepper motor, driving leg speed reduction unit, conical gear pair, rear axle, straight spur gear pair, front axle, abutment sleeve, rocking bar, driving leg connecting rod, driving leg leg pedal; Said housing and body partial fixing; Said motor cabinet and speed reduction unit seat are fixed on the housing, and said driving leg stepper motor is connected with the driving leg speed reduction unit; Said driving leg speed reduction unit is connected with rear axle through conical gear is secondary; Said rear axle is connected with front axle through straight spur gear is secondary; Front axle is connected with rocking bar through spline; One end of said driving leg pedal and connecting rod is hinged, and the other end and the rocking bar of said connecting rod are rotationally connected.
The beneficial effect that the present invention reached is: this patent can be realized needed basic operation in the vehicle drive process, as step on the gas, brake, stepping on clutch, gearshift, veer dish etc.Simultaneously, this invention also has good adaptability, and it can adapt to the vehicle with differing heights and bearing circle of size; And the present invention does not relate to pneumatic means, not only reduces noise, and improves control accuracy.In addition, this automatic drive robot in use need not carry out any repacking to vehicle, therefore can guarantee the integrality of vehicle structure.
Description of drawings
Through the more specifically explanation of the preferred embodiments of the present invention shown in the accompanying drawing, above-mentioned and other purpose, characteristic and advantage of the present invention will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not draw accompanying drawing, focus on illustrating purport of the present invention by physical size equal proportion convergent-divergent.
Fig. 1 is a kind of one-piece construction figure of automatic drive robot;
Fig. 2 is the structural representation of body part among Fig. 1;
Fig. 3 is the structural representation of vision collecting part;
Fig. 4 is the structural representation of bearing circle control section;
Fig. 5 is the structural representation of the locking mechanism of bearing circle control section;
Fig. 6 is the structural representation of the manipulator mechanism of bearing circle control section;
Fig. 7 is the structural representation of gearshift part;
Fig. 8 is the vertical view of gearshift part;
Fig. 9 is the structural representation of driving leg part;
Wherein: 1, body part, 2, the visual signal collecting part, 3, the bearing circle control section, 4, the gearshift part, 5, the driving leg part, 6, base, 7, the horizontal slip platform; 8, position adjustment handle, 9, pinion and rack, 10, spiral horizontal lock mechanism, 11, upright slide rail, 110, upright slide block, 111, bearing circle catanator cantilever; 112, framework, 12, the slide rail locking mechanism, 13, two parallel-crank mechanism, 14, the eccentric wheel locking mechanism, 15, head, 16, first worm couple; 17, second worm couple, 18, gear case, 19, first motor, 20, second motor, 21, stationary installation, 22, locking mechanism; 23, actuating unit, 24, chuck mechanism, 25, manipulator mechanism, 26, spiral handle, 27, slide block, 28, guideway; 29, fixture, the 30, the 3rd motor, 31, speed reduction unit, 32, scrambler, 33, the spiral knob, 34, threaded guide rod; 35, pedestal, 36, gripper, 37, the mechanical arm connecting rod, 38, web joint, the 39, the 4th motor, 40, sleeve; 41, the 3rd worm couple, 42, preceding driving lever, 43, the back driving lever, 44, sliding cylinder, 45, housing, 46, cap; 47, motor cabinet, 48, the speed reduction unit seat, 49, the driving leg stepper motor, 50, the driving leg speed reduction unit, 51, conical gear is secondary, 52, rear axle; 53, straight spur gear is secondary, and 54, front axle, 55, abutment sleeve, 56, rocking bar, 57, bar before the driving leg, 58, the driving leg pedal.
Embodiment
Below will combine accompanying drawing that a kind of automatic drive robot embodiment that the present invention proposes is described in detail.
Referring to the one-piece construction figure of a kind of automatic drive robot shown in Figure 1, this automatic drive robot mainly is made up of following five parts: body part 1, visual signal collecting part 2, bearing circle control section 3, gearshift part 4 and driving leg part 5.
In conjunction with shown in Figure 2, said body part 1 is made up of base 6, horizontal slip platform 7, position adjustment handle 8, pinion and rack 9, spiral horizontal lock mechanism 10, upright slide rail 11, upright slide block 110, slide rail locking mechanism 12, two parallel-crank mechanism 13, eccentric wheel locking mechanism 14 etc.Base 6 is a rectangular box, links to each other with specific bracing frame through bolt, and for different vehicles, bracing frame should design respectively, so that robot can be securely in place the driver's seat top.Horizontal slip platform 7 sleeves are supported by the pulley blocks that is installed on the base 6 in base 6; Rotate on the base 6 and be provided with position adjustment handle 8; Position adjustment handle 8 one ends are fixed with gear; Be furnished with tooth bar on the horizontal slip platform 7, above-mentioned rack and pinion constitutes pinion and rack 9, makes the user through turn position adjustment handle 8; Driven wheel tooth bar mechanism 9 promptly can realize moving forward and backward of horizontal slip platform 7 relative bases 6; And be provided with spiral horizontal lock mechanism 10 in the base 6, the lock handle of user's turn spiral horizontal lock mechanism 10, with spiral horizontal lock mechanism 10 and horizontal slip platform 7 closely against, horizontal slip platform 7 relative bases 6 are locked.Above-mentioned fore-and-aft direction, and the back mention in the literary composition about, left and right directions, all be after this automatic drive robot is fixed in driver's seat, the front and back of driver's seat, up and down, left and right directions.
When robot was installed, the user at first needed orientation dish control section 3.Through position of rotation adjustment handle 8, driven gear rack mechanism 9, the user adjusts the front and back position of horizontal slip platform 7; And upright slide rail 11 is directly installed on the horizontal slip platform 7, so the bearing circle control section 3 that is connected with upright slide block 110 is along with horizontal slip platform 7 moves forward and backward.At this moment, upright slide block 110 still can slide in upright slide rail 11, makes bearing circle control section 3 also can freely adjust upper-lower position.The handgrip of treating bearing circle control section 3 is firmly held behind the bearing circle, the handle of user's turn spiral horizontal lock mechanism 10 and the handle of slide rail locking mechanism 12, the location of accomplishing bearing circle control section 3.Subsequently, the user should locate gearshift part 4.Body part 1 is connected through one group of two parallel-crank mechanism 13 with gearshift part 4; This pair parallel-crank mechanism 13 has enough rigidity to make gearshift part 4 maintenance levels; After the user accurately adjusts gearshift part 4 positions; Can compress the revolute pair of two parallel-crank mechanisms 13 through the handle on the rotation eccentric wheel locking mechanism 14, the connecting link of two parallel-crank mechanisms 13 can't be relatively rotated, accomplish gearshift location partly.
In conjunction with shown in Figure 3, said vision collecting part mainly is made up of head 15, first worm couple 16, second worm couple 17, gear case 18, first motor 19, second motor 20, stationary installation 21 etc.Said stationary installation 21 is two of symmetric arrangement; Be fixedly attached to respectively on the framework 112 of body part 1; One of them stationary installation 21 is provided with first motor 19; First motor 19 is connected with the worm screw of first worm couple 16 through shaft coupling, and the worm gear of first worm couple 16 is fixedly connected with gear case 18, and gear case 18 also is rotationally connected with another stationary installation 21.Second motor 20 is fixed in the gear case 18, and is connected with the worm screw of second worm couple 17 through shaft coupling, and the worm gear of second worm couple 17 is fixedly connected with head 15.When control system was sent 19 rotations of instruction control first motor, these first motor, 19 driven gear casees 18 axle of worm gear in first worm couple 16 rotated, so head 15 can swing.When control system is sent 20 rotations of instruction control second motor, this motor will rotate through second worm couple 17 and be delivered to head 15, and then head 15 is realized left-right rotation.Through with upper type, robotic vision signals collecting part 2 can obtain wider visual signal.
In conjunction with shown in Figure 4, described bearing circle control section 3 mainly is made up of locking mechanism 22, actuating unit 23, chuck mechanism 24 and manipulator mechanism 25.Actuating unit 23 is made up of the 3rd motor 30, speed reduction unit 31 and scrambler 32, and this actuating unit 23 is the power resources that bearing circle rotates.The structure of chuck mechanism 24 and the scroll chuck similar on the lathe, when the turn knob, the parcel in the chuck mechanism 24 rotates, and drives three manipulator mechanisms 25 and does synchronous radial motion.Chuck mechanism 24 is connected with the output shaft of the 3rd motor 30 through speed reduction unit 31, and when output shaft drove the parcel rotation, three manipulator mechanisms 25 were done radial motion simultaneously, so that drive robot adapts to the different bearing circle of diameter.
In conjunction with shown in Figure 5, said locking mechanism 22 is made up of fixture 29, spiral handle 26, slide block 27 and guideway 28.Fixture 29 is connected with the upright slide block 110 of body part 1, and when upright slide block 110 moved up and down, bearing circle control section 3 integral body also moved up and down, and made this drive robot can adapt to the vehicle with differing heights bearing circle.Said guideway 28 is fixedly connected with actuating unit 23; Said slide block 27 slides and is plugged in the guideway 28; Screw thread is arranged at the bar top of spiral handle 26, realizes worm drive with slide block 27, and the bar bottom of spiral handle 26 can be a polished rod; Said fixture 29 turning sets are located on the polished rod, realize the rotation of fixture 29 relative guideways 28 thus.When automatically
When drive robot was installed on the vehicle, because hinged existence, bearing circle control gear 3 can rotate around the polished rod of spiral handle 26, adapts to the different bearing circle in pitch angle.When rotating spiral handle 26, slide block 27 slides in guideway 28, with fixture 29 against, and make fixture 29 relative guideways 28 lock.
In conjunction with shown in Figure 6, each manipulator mechanism 25 comprises spiral knob 33, threaded guide rod 34, pedestal 35, two grippers 36, two mechanical arm connecting rods 37.Threaded guide rod 34 is plugged in the unthreaded hole of pedestal 35, and is threaded with spiral knob 33, and gripper 36 is rotatably connected on the pedestal 35, and mechanical arm connecting rod 37 1 ends connect gripper 36, the other end connects threaded guide rod 34.When turn spiral knob 33, threaded guide rod 34 is flexible in the unthreaded hole of pedestal 35, drives 37 actions of mechanical arm connecting rod, and then drives the folding of two grippers 36.Through this process, just can make manipulator mechanism 25 clamp the bearing circle of different thicknesses, guaranteed the control accuracy of robot to bearing circle.Control the flexible of threaded guide rod 34 through a spiral knob 33, and then pass through the folding that mechanical arm connecting rod 37 drives grippers 36, the purpose of the bearing circle of different thicknesses is clamped in realization.Adhered to one deck elastomeric material in the inboard of gripper 36,, guaranteed transmitting accuracy to increase friction force.
In conjunction with Fig. 7 and shown in Figure 8, described gearshift part 4 comprises web joint 38, the 4th motor 39, sleeve 40, the 3rd worm couple 41, preceding driving lever 42, back driving lever 43 etc.Web joint 38 links together the two parallel-crank mechanisms 13 of whole gearshift part 4 with body part 1, and body part 1 moves up and down relatively, to satisfy the different shift handle requirement for height of different cars.Said the 4th motor 39 drives 41 motions of the 3rd worm couple, and then driving lever 42 rotates before driving, and back driving lever 43 is driven by another motor and worm couple (not shown).Said preceding driving lever 42 and back driving lever 43 are formed one with other four connecting rods and are had the binary linkage assembly in plane; Two driving levers receive motion and the torque that drive part passes over, and drive this linkage assembly orbiting motion according to the rules.Be connected with sleeve 40 on the said linkage assembly; Said sleeve 40 has opening down; And slide in the opening and be provided with sliding cylinder 44; Sliding cylinder 44 is connected with the shift handle of vehicle, is connected through spring between the top of said sliding cylinder 44 and sleeve 40, and spring can be offset handle head micro-displacement up and down in the shift handle motion process.Whole gearshift part 4 is controlled according to the situation of vehicle ' by electronic equipment.
In conjunction with shown in Figure 9, described driving leg part 5 comprises housing 45, cap 46, motor cabinet 47, speed reduction unit seat 48, driving leg stepper motor 49, driving leg speed reduction unit 50, conical gear pair 51, rear axle 52, straight spur gear pair 53, front axle 54, abutment sleeve 55, rocking bar 56, driving leg connecting rod 57, driving leg leg pedal 58 etc.Housing 45 is fixing through bolt and body part 1, and cap 46 can reduce the dust influence, and improves aesthetic property.Motor cabinet 47 is fixed on the housing 45 with speed reduction unit seat 48, and driving leg stepper motor 49 and driving leg speed reduction unit 50 are linked together, and entire mechanism is through the rotating speed of handling stepper motor and movement velocity and the displacement that the number of turns is come control pedal.Both combinations have realized slowing down and have increased square, and enough control accuracy and driving forces can be provided.Driving leg speed reduction unit 50 is given rear axle 52 through conical gear pair 51 with transmission of power, and changes transmission direction.A conical gear in the conical gear secondary 51 is connected with rear axle 52 through spline.Straight spur gear secondary 53 is given front axle 54 with the transmission of power of rear axle 52.Front axle 54 is connected with rocking bar 56 with abutment sleeve 55 through spline.Spline connects, and rocking bar 56 can be moved along front axle 54, cooperates to adapt to different pedal positions with the abutment sleeve 55 of different length.When needs control throttle, driving leg pedal 58 is connected with gas pedal through elastic threads, and is connected to an end of connecting rod 57 through hinged mode, can obtain pliability preferably and to the adaptability of multi-form pedal.The other end of connecting rod 57 and rocking bar 56 are rotationally connected.Detent driving leg and clutch coupling driving leg are fixed on the body equally, cooperate brake pedal and clutch pedal position through changing the position of rocking bar 56 on spline.
Though the present invention with preferred embodiment openly as above; But it is not to be used for limiting claim; Any those skilled in the art are not breaking away from the spirit and scope of the present invention; Can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (10)
1. automatic drive robot; Comprise body part, visual signal collecting part, bearing circle control section, gearshift part and driving leg part; It is characterized in that: said body partly comprises base, be supported on the base and relatively the horizontal slip platform that moves forward and backward of base, be used for the horizontal lock mechanism of the relative base locking of horizontal slip platform, be arranged on upright slide rail on the horizontal slip platform, be slidingly arranged in upright slide block on the upright slide rail, be used for vertical locking mechanism the relative upright slide rail locking of upright slide block, said bearing circle control section is connected with said upright slide block.
2. automatic drive robot as claimed in claim 1 is characterized in that: rotate on the said base and be provided with position adjustment handle, said position adjustment handle one end is fixed with gear; Said horizontal slip platform is provided with tooth bar, and above-mentioned rack and pinion constitutes pinion and rack.
3. automatic drive robot as claimed in claim 1 is characterized in that: said body partly is connected with one group of two parallel-crank mechanism, and said pair of parallel-crank mechanism is connected with the gearshift part; Said pair of parallel-crank mechanism has the rotational freedom of two surface levels; And connect rotating shaft place in the middle of two parallel-crank mechanisms and be provided with the eccentric wheel locking mechanism, the eccentric wheel excircle of said eccentric wheel locking mechanism can lock the revolute pair of said pair of parallel-crank mechanism.
4. automatic drive robot as claimed in claim 1 is characterized in that: said vision collecting partly comprises head, first worm couple, second worm couple, gear case, first motor, second motor and stationary installation; Said stationary installation is two of symmetric arrangement; Be fixedly attached to the body part respectively; One of them stationary installation is provided with first motor; Said first motor is connected with the worm screw of first worm couple, and the worm gear of first worm couple is fixedly connected with gear case, and said gear case also is rotationally connected with another stationary installation; Said second motor is fixed in the gear case, and is connected with the worm screw of second worm couple, and the worm gear of second worm couple is fixedly connected with head.
5. automatic drive robot as claimed in claim 1 is characterized in that: described bearing circle control section comprises locking mechanism, actuating unit, chuck mechanism and manipulator mechanism; Said actuating unit comprises the 3rd motor, the speed reduction unit and the scrambler that are connected with the 3rd motor; Chuck mechanism is connected with speed reduction unit; Said manipulator mechanism is three, and can be along the radial motion of said chuck mechanism.
6. automatic drive robot as claimed in claim 5 is characterized in that: said locking mechanism comprises fixture, spiral handle, slide block and guideway; Said fixture partly is connected with body, and said guideway is fixedly connected with actuating unit; Said slide block slides and is plugged in the guideway, and said spiral handle has screw thread, and is threaded with said slide block, and said fixture turning set is located on the spiral handle; Said slide block have with fixture against the working position, the locking of the relative guideway of fixture this moment.
7. automatic drive robot as claimed in claim 5 is characterized in that: said manipulator mechanism comprises spiral knob, threaded guide rod, pedestal, two grippers, two mechanical arm connecting rods; Said threaded guide rod is plugged in the unthreaded hole of pedestal, and is threaded with the spiral knob; Said gripper is rotatably connected on the pedestal, and mechanical arm connecting rod one end connects gripper, the other end connects threaded guide rod.
8. automatic drive robot as claimed in claim 1 is characterized in that: described gearshift part comprises web joint, sleeve, preceding driving lever, back driving lever, four connecting rods; Said web joint connects said gearshift part and body part; Driving lever, back driving lever drive by the driven by motor worm couple before said; Said preceding driving lever and back driving lever are formed one with four connecting rods and are had the binary linkage assembly in plane; Be connected with sleeve on the said linkage assembly.
9. automatic drive robot as claimed in claim 8; It is characterized in that: said sleeve has opening down; Slide in the said opening and be provided with sliding cylinder, sliding cylinder is connected with the shift handle of vehicle, is connected through spring between the top of said sliding cylinder and sleeve.
10. automatic drive robot as claimed in claim 1 is characterized in that: described driving leg partly comprises housing, cap, motor cabinet, speed reduction unit seat, driving leg stepper motor, driving leg speed reduction unit, conical gear pair, rear axle, straight spur gear pair, front axle, abutment sleeve, rocking bar, driving leg connecting rod, driving leg leg pedal; Said housing and body partial fixing; Said motor cabinet and speed reduction unit seat are fixed on the housing, and said driving leg stepper motor is connected with the driving leg speed reduction unit; Said driving leg speed reduction unit is connected with rear axle through conical gear is secondary; Said rear axle is connected with front axle through straight spur gear is secondary; Front axle is connected with rocking bar through spline; One end and the driving leg pedal of said connecting rod are hinged, and the other end and the rocking bar of said connecting rod are rotationally connected.
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| CN201110247651.7A CN102637058B (en) | 2011-08-25 | 2011-08-25 | Automatic drive robot |
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| CN201110247651.7A CN102637058B (en) | 2011-08-25 | 2011-08-25 | Automatic drive robot |
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| CN102637058A true CN102637058A (en) | 2012-08-15 |
| CN102637058B CN102637058B (en) | 2014-04-16 |
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| CN106078705A (en) * | 2016-04-20 | 2016-11-09 | 南京理工大学 | The intelligent optimization method of Vehicle Driver Robot gear shifting manipulator size |
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| CN111924018A (en) * | 2020-06-04 | 2020-11-13 | 酷至家(广州)智能科技发展有限公司 | Robot driver |
| CN112557054A (en) * | 2020-12-03 | 2021-03-26 | 苏州测迅智能汽车科技有限公司 | Pedal driving robot for unmanned driving test |
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| CN114948220A (en) * | 2022-05-18 | 2022-08-30 | 天津大学 | Orthopedic positioning robot base |
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| CN111924018A (en) * | 2020-06-04 | 2020-11-13 | 酷至家(广州)智能科技发展有限公司 | Robot driver |
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| CN112557054A (en) * | 2020-12-03 | 2021-03-26 | 苏州测迅智能汽车科技有限公司 | Pedal driving robot for unmanned driving test |
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