CN104122101B - A kind of high-performance autonomous driving robot for automobile test - Google Patents

Abstract

The present invention provides a kind of high-performance autonomous driving robot for automobile test,Including a control module with default compiler,The high-performance autonomous driving robot performs relevant action according to the pre-set programs,A series of one information feedback module for including sensing elements,Sensing element gather the action of the high-performance autonomous driving robot and be converted to can input signal feed back to control module,With a drive module,The drive module includes a series of driver elements and a series of executive components,Wherein executive component has respective driver element,Executive component distinguishes a steering wheel of Control experiment automobile,One shifting element and a velocity control element,Driver element drives executive component to realize the linear motion of preset direction,Information feedback module is arranged at drive module,With the operation displacement of monitoring driving module and speed,Control module instructs corresponding driver element operation or terminates according to the feedback signal of information feedback module.

Description

A kind of high-performance autonomous driving robot for automobile test

Technical field

The present invention relates to a kind of robot, more particularly to a kind of high-performance autonomous driving robot for automobile test, Belong to automobile test field, wherein during automotive dynamic testing, the autonomous driving robot can replace the automobile examination of specialty Personnel's driving is driven, so as to complete the automobile test work of correlation.

Background technology

Automobile is the closely related vehicles of our everyday lifes, is that the trip of people adds many facilities. As the raising and the development of science and technology of national economy, the consuming capacity of people are also being improved, automobile still belongs to high price decades ago The luxury goods of position, the family of small part just has the ability to undertake, and nowadays with the change of living condition, increasing family Front yard all has the ability to put at least one automobile of purchase, and the automobile quantity of the superior family of some economic conditions can also be more.

In the epoch of this development in science and technology, we sigh with feeling traffic trip it is convenient when, do not allow to despise, we are also more Urgently need to be concerned about safe this big problem of going on a journey.Traffic accident all can continually occur daily, gently then cause the broken of vehicle Damage, injures and deaths that are heavy then causing personnel, such accident causes no small injury to many families, therefore some families also break It is broken.Traffic accident is violent in tiger, the reason for cause a traffic accident some because the driving reason of driver, such as human pilot is driven after drinking Car, violation operation drive etc., some the reason for because the brake system of the problems of vehicle itself, such as vehicle There is problem in system, be that potential safety hazard is buried in traffic driving.The potential safety hazard that itself driving problem of wherein driver is brought is only Need human pilot to be enhanced your vigilance in driving procedure usually, can be just to avoid unnecessary injures and deaths.And due to vehicle The potential safety hazard that sole mass problem is brought is just as a time bomb, it is not known that when and where human pilot can be made Into not expected injury, it is worth us to improve attention rate.

The sole mass problem of automobile can not only cause personal injury to driver, also can cause degree of belief to automobile vendor Rupture, the case that the vehicle of certain brand is recalled due to quality problems by the whole world also occurs with us, and we are consumed For person, this is a thing for being worth us to enhance your vigilance.When purchase automobile is put, the various aspects of performance of automobile into I Focus, we also be intended to the actual performance of automobile really can how general, its performance described by sale of automobile person Data can be reduced as far as possible exaggerates composition, and this also will be a kind of safe guarantee for consumer.

In order to ensure the sole mass of automobile, each automobile all has to pass through strict quality testing before dispatching from the factory.Its The quality testing of middle automobile not only includes the static check of automobile function part, also including the dynamic test of various simulated roadways, from And check whether each convenient function of the automobile meets standard.The dynamic test of simulated roadway is a kind of automobile test ride people of specialty Member drives the automobile on simulated roadway, so as to obtain the automobile test method of the performance data of each side.Simulated roadway it is dynamic State experiment is completed by the automobile test ride personnel of specialty, although automobile test ride personnel also have with higher professional to automobile There is deeper understanding, but the intensity of dynamic test is larger, continuation is strong, with certain danger, and if the automobile Really there are serious quality problems, any accident is there occurs during dynamic test, this is also to automobile test ride personnel One kind injury.Automobile test ride personnel are done experiment to ensure each quality of the automobile for dispatching from the factory, therefore we are also required to Ensure the personal safety of automobile test ride personnel.

In order to improve the personal safety of automobile test ride personnel, driven a car instead of automobile test ride personnel using drive robot It is a kind of new research technique, drive robot possesses the operation of all expected property by programming, can complete automobile test ride Personnel's operational motion to be completed, instead of automobile test ride human users automobile so as to obtain the detection number needed for testing staff According to.External drive robot technology development is relatively early, technology also relative maturity, but the key technology of drive robot is also In the secrecy stage.And the drive robot of the country is started late, technology is also ripe without foreign countries, in development test drive machine Also many problems have been encountered during people, developing stage has been constantly in.The volume of domestic drive robot is larger at present, Install inconvenient, simultaneously, for, also without good adaptability, this is caused for dynamic test in the experiment of different type vehicle A certain degree of influence.In addition dynamic test is, with changeability, how to improve the precise manipulation of autonomous driving robot, So that test data is more accurately the work made great efforts all the time, we are desirably ensureing automobile test ride personnel's Personal safety simultaneously, while ensure that each side operation of test ride robot can be flexible as automobile test ride personnel, so as to obtain Obtain accurately reliable test data.

The content of the invention

It is a primary object of the present invention to provide a kind of high-performance autonomous driving robot for automobile test, wherein During automotive dynamic testing, the autonomous driving robot can replace the automobile test ride personnel driving of specialty, so as to complete Related automobile test work.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein During automotive dynamic testing, the autonomous driving robot can replace the automobile test ride personnel driving of specialty, so as to mitigate The labour intensity of automobile test ride personnel, to a certain extent for its personal safety provides safeguard.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should Autonomous driving robot architecture is simple, the part of complexity is not related to, so that small volume.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should Autonomous driving robot provides a connection pedestal, and remaining each structure is connected to the connection pedestal, by the connection pedestal It is easy for installation with the connection of automotive seat, you can the drive robot is installed on into automobile.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should The gear shifting manipulator of autonomous driving robot, the structure such as pedipulator and steering wheel control assembly can be according to the position of different vehicle Put form and make regulation, all there is adaptability hence for different vehicle.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should Autonomous driving robot uses servomotor, so as to have accurate feasibility.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should Autonomous driving robot has memory capability, after power is turned off need not teaching again.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should After autonomous driving robot is installed on automobile, each part will not because of rocking for vehicle in the process of moving bits of offset Put, do not interfere with the accuracy of experiment.

Another object of the present invention is to provide a kind of high-performance autonomous driving robot for automobile test, wherein should The all parts of autonomous driving robot are removably joined together, and are easy to combination to dismantle, and some part can after being broken To be replaced.

In order to realize the above object the invention provides a kind of high-performance autonomous driving robot for automobile test, Including a control module, an information feedback module, a drive module and an actuator positions adjusting module, wherein the control Module has a default compiler, and the high-performance autonomous driving robot performs related dynamic according to the pre-set programs Make.

Described information feedback module includes a series of sensing elements, and the sensing element gathers the high-performance autonomous driving The action of robot and be converted to can input signal feed back to the control module.The drive module includes that a series of drivings are single First and a series of executive components, wherein the executive component has the respective driver element, per the executive component A steering wheel of Control experiment automobile respectively, a shifting element and a velocity control element, the driver element drive described in hold Units realize the linear motion of preset direction, and described information feedback module is arranged at the drive module, described to monitor The operation displacement of drive module and speed, the control module are corresponding according to the instruction of the feedback signal of described information feedback module The driver element operation terminates.The executive component adjusting module is respectively arranged at per the executive component, and operation is described Executive component adjusting module changes the present position direction per the executive component so that the high-performance autonomous driving robot When being applied to different types of use automobile, can be located at suitable position to realize precise manipulation per the executive component.

It is noted that type of drive of the driver element using servomotor.

It is noted that the executive component of the velocity control element of Control experiment automobile is one group of pedipulator, institute Pedipulator is stated under the driving of the corresponding driver element, the instruction according to the control module is held towards velocity control element Row linear motion, realizes pushing and reclaiming for velocity control element, so that change speed, the different straight lines position per the pedipulator Shifting amount represents corresponding different speed.

It is noted that the pre-set programs of the control module are compiled according to teaching activity so that described High-performance autonomous driving robot has memory capability.

It is noted that the drive module is a velocity control assemblies, a gear control assembly and a steering wheel control Component processed, wherein the velocity control element of the velocity control assemblies control operation test car, the gear control assembly control The shifting element of operating operation test automobile processed, the steering wheel of the steering wheel control assembly control operation test car.

It is noted that the high-performance autonomous driving robot further includes a connection pedestal, the speed control Component processed, the gear control assembly and the steering wheel control assembly are removably attachable to the connection pedestal respectively, When the high-performance autonomous driving robot is applied to automobile test, the connection pedestal is fixed in of test car Chair.

It is noted that the connection pedestal includes one first face plate of foundation and one second face plate of foundation, wherein described Second face plate of foundation is upwardly extended in the rear part edge of first face plate of foundation, a pair first connectors upwardly extend respectively in First face plate of foundation, a pair second connectors respectively forwardly extend second face plate of foundation, a pair the 3rd connectors Upwardly extend respectively in the front portion of first face plate of foundation, the velocity control assemblies are removable via the 3rd connector It is connected to the connection pedestal with unloading, the gear control assembly can via first connector and second connector quilt The connection pedestal is releasably connected to, the steering wheel control assembly is removably attachable to the gear control assembly.

It is noted that the velocity control assemblies include one group of pedipulator and one group of pedipulator driver element, every institute The upper end that pedipulator driver element is arranged at every pedipulator is stated, a pedipulator outer tube and a machine are included per the pedipulator Tool leg inner tube, wherein the pedipulator inner tube is movably built in the pedipulator outer tube, the pedipulator inner tube is connected to The pedipulator driver element, the pedipulator driver element drives the pedipulator inner tube to realize back and forth straight of preset direction Line is moved, and the pedipulator inner tube acts on the velocity control element of test car, so as to realize pushing for velocity control element And recovery.

It is noted that the 3rd connector includes a connecting substrate and a hook-type latch segment, wherein the connection Substrate is upwardly extended in the front portion of first face plate of foundation, and the hook-type latch segment is rotatably connected at the linker Plate, the hook-type latch segment and the connecting substrate define to form a connecting rod connecting cavity, and a connecting rod is arranged at the described 3rd Between connector, the connecting rod has a pair of connecting rod connection ends, and the connecting rod connection end is placed in the connection Bar connecting cavity, with this so that the connecting rod is removably attachable to the connection pedestal, one group of pedipulator fixation kit quilt Be arranged at per the pedipulator, the connecting rod through per the pedipulator fixation kit, per the pedipulator fixation kit The simultaneously fixed corresponding pedipulator, with this so that the velocity control assemblies are connected to the connection pedestal.

It is noted that the pedipulator fixation kit has a horizontal fixing pipe and a longitudinally fixed pipe, wherein institute State longitudinally fixed pipe to upwardly extend in the horizontal fixing pipe, the connecting rod is through the horizontal fixing pipe, the longitudinal direction Fixing pipe is made up of the identical symmetrical two arcs fixed panel of structure, and arc fixed panel described in two connects via screw Connect, so that the pedipulator is fastened onto the longitudinally fixed pipe, by rotating its fixing screws, may be such that the longitudinal direction Fixing pipe is in non-tightening state, so as to change the fixed position of the pedipulator.

It is noted that the cross section of the connecting rod connection end is polygon, the chamber of the connecting rod connecting cavity Shape matches and the shape of end is connected together in the connecting rod.

It is noted that the actuator positions adjusting module includes one group of pedipulator position adjustment part, per described Pedipulator position adjustment part is connected to the lower surface per the horizontal fixing pipe, wherein the pedipulator position adjustment part includes One adjustment part force end and an adjustment part forced section, the adjustment part stress end has a steady pin long, a short steady pin With a connecting rod, the short steady pin is located at the back lower place of the steady pin long, and the connecting rod extends to via the steady pin long The short steady pin, the adjustment part forced section includes that one fixes fork arm and a flexible fork arm, wherein the fixation fork bar is consolidated It is connected to the horizontal fixing pipe, through the fixed fork arm, the steady pin long is through the fixation for the flexible fork arm The end of fork arm, the short steady pin through the end of the flexible fork arm, with this so that the adjustment part forced section is connected The adjustment part force end is connected to, the flexible fork arm has scalability, and the adjustment part force end further includes One pull bar, by pulling the rotatable pedipulator fixation kit of the pull bar, so as to change the angle of inclination of the pedipulator.

It is noted that the gear control assembly includes a gear shifting manipulator and a gearshift driver element, it is described to change Gear manipulator is connected to the shifting element of test car, and the gearshift driver element includes that an X drives to driver element and a Y-direction Moving cell, the X drives the gear shifting manipulator to be driven to round linear motion, the Y-direction is carried out along X to driver element Unit drives the gear shifting manipulator to carry out round linear motion along Y-direction, and the X drives to driver element and the Y-direction Unit is separate.

It is noted that the gear control assembly further includes a housing, the housing connects via described first Fitting and second connector are connected to the connection pedestal, and the X is arranged at the housing, the Y to driver element The gear shifting manipulator is connected to driver element, a manipulator fixation kit is arranged at the gear control assembly, institute State manipulator fixation kit and the gear shifting manipulator is removably attachable to the X to driver element.

It is noted that the gear shifting manipulator includes a manipulator outer tube and a manipulator inner tube, the manipulator Inner tube is movably built in the manipulator outer tube, and the housing of the Y-direction driver element extends the manipulator outer tube Lower surface, the manipulator inner tube is connected to the Y-direction driver element, and the Y-direction driver element drives the manipulator inner tube Round linear motion is carried out along Y-direction, a drive link extends to the manipulator fixation group via the X to driver element Part, the X drives the drive link along X to round linear motion is carried out to driver element, so as to realize the gearshift machine The X of tool hand to movement.

It is noted that the manipulator fixation kit includes that first fixture of manipulator and a manipulator second are consolidated Determine part, the fixture of the manipulator first has a manipulator fixing groove, and the gear shifting manipulator is fixed in the manipulator Fixing groove, the fixture of the manipulator first has the connecting shaft connecting cavity of a transverse direction, and the connecting shaft of a transverse direction extends described The fixture of manipulator second, the connecting shaft is through the connecting shaft connecting cavity, so that the manipulator first is fixed Part could be detachably connected to the fixture of the manipulator second, the outlet of the connecting shaft connecting cavity be provided with an elastic locking portion and One fixed handle, the fixed handle extends the elastic locking portion, by rotating the fixed handle so that the machinery The fixture of hand first is firmly fastened to the fixture of the manipulator second, while so that the gear shifting manipulator is fastened onto institute State manipulator fixing groove.

The actuator positions adjusting module further includes a position of manipulator adjusting lever, and the position of manipulator is adjusted Whole bar is upwardly extended in the end of the drive link, and the fixture of the manipulator second has the adjusting lever holding tank of a longitudinal direction, The position of manipulator adjusting lever is separately fixed to the adjusting lever holding tank, so as to the manipulator fixation group can be changed Clip position of the part to the position of manipulator adjusting lever.

It is noted that the gear control assembly further includes a gear retaining piece, the gear fixing Part could be detachably connected to the end of the manipulator inner tube, and the gear retaining piece has a fixing chamber, test car Shifting element 92 a gear shift head be placed on the fixing chamber.

It is noted that the actuator positions adjusting module further includes a runing rest position adjustment part, The runing rest position adjustment part extends to the steering wheel control assembly via the housing, and the runing rest position is adjusted One integral piece includes a first support bar, a second support bar and a regulation connecting portion, wherein the second support bar extend it is described Housing, the first support bar is rotatably connected at the second support bar, described first via the adjustment connecting portion Strut is connected to the steering wheel control assembly simultaneously, and a regulation handle is arranged at the regulation connecting portion, described by rotation The rotatable first support bar of regulation handle, so as to change the angle of inclination of the steering wheel control assembly.

It is noted that the steering wheel control assembly includes a steering wheel clamping part and a steering wheel runner assembly, Wherein described steering wheel clamping part is used for the wheel rim of the steering wheel of clamp assay automobile, and the steering wheel runner assembly includes a rotation Turn support, a power part, a rotating part and a location division, wherein the rotating part extends to the rotation branch by the power part Frame, the location division is arranged at the rotating part, and the steering wheel clamping part could be detachably connected to the runing rest, institute State first support bar and be connected to the location division, the power part drives the rotating part rotation, so as to drive the rotation branch The rotation of frame and the steering wheel clamping part so that the steering wheel of test car is rotated.

It will also be appreciated that the steering wheel clamping part includes an adjustment portion and a fixed part, wherein the fixed part The runing rest is connected to, the adjustment portion is pivotably coupled to the fixed part, can by rotating the adjustment portion Change the distance between the adjustment portion and described fixed part, a retaining ring is arranged at the adjustment portion, and the adjustment portion is used for The wheel rim of the steering wheel of clamp assay automobile.

Brief description of the drawings

Fig. 1 is high-performance autonomous driving robot application according to a preferred embodiment of the present invention in automobile test Use schematic diagram.

Fig. 2 is the structural representation of the high-performance autonomous driving robot of above preferred embodiment of the invention.

Fig. 3 is the top view of the high-performance autonomous driving robot of above preferred embodiment of the invention.

Fig. 4 is the side view of the high-performance autonomous driving robot of above preferred embodiment of the invention.

Fig. 5 is the velocity control assemblies knot of the high-performance autonomous driving robot of above preferred embodiment of the invention Structure schematic diagram.

Fig. 6 is the pedipulator position adjustment of the high-performance autonomous driving robot of above preferred embodiment of the invention Part exploded perspective view.

Fig. 7 is that the connection base construction of the high-performance autonomous driving robot of above preferred embodiment of the invention shows It is intended to.

Fig. 8 is the manipulator fixation kit of the high-performance autonomous driving robot of above preferred embodiment of the invention Structural representation.

Fig. 9 a and 9b are the manipulators of the high-performance autonomous driving robot of above preferred embodiment of the invention The structural side view of one fixture.

Figure 10 a and 10b are the manipulators of the high-performance autonomous driving robot of above preferred embodiment of the invention The structural side view of the second fixture.

Figure 11 is the steering wheel control group of the high-performance autonomous driving robot of above preferred embodiment of the invention Part exploded perspective view.

Figure 12 is the steering wheel rotating group of the high-performance autonomous driving robot of above preferred embodiment of the invention Part exploded perspective view.

Specific embodiment

Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body From the other technologies scheme of the spirit and scope of the present invention.

As shown in Figures 1 to 4, the preferred embodiments of the present invention are autonomous there is provided a kind of high-performance for being applied to automobile test Drive robot, the high-performance autonomous driving robot, including a control module, an information feedback module and drive mould Block, wherein the control module has a default compiler, the high-performance autonomous driving robot is according to described default Program performs relevant action.Described information feedback module includes a series of sensing elements, and the sensing element gathers the property high Can autonomous driving robot action and be converted to can input signal feed back to the control module.The drive module includes one Serial driver element and a series of executive components, wherein the executive component has the respective driver element, it is described Executive component distinguishes a steering wheel 91 of Control experiment automobile, a shifting element 92 and a velocity control element 93, the driving Unit drives the executive component to realize the linear motion of preset direction, and described information feedback module is arranged at the driving mould Block, to monitor operation displacement and the speed of the drive module, feedback of the control module according to described information feedback module The corresponding driver element operation of signal instruction terminates.It is noted that the driver element is using servomotor Type of drive.

The high-performance autonomous driving robot further includes an actuator positions adjusting module 6, described to perform unit Part adjusting module 6 is respectively arranged at per the executive component, is operated the executive component adjusting module 6 to change and is performed unit per described The present position direction of part so that when the high-performance autonomous driving robot is applied to different types of use automobile, often The executive component can be located at suitable position to realize precise manipulation.

The drive module is a velocity control assemblies 1, a gear control assembly 2 and a steering wheel control assembly 3, wherein The velocity control element 93 of the control operation test car of the velocity control assemblies 1, the control operation of gear control assembly 2 examination Test the shifting element 92 of automobile, the steering wheel 91 of the control operation test car of the steering wheel control assembly 3.

When the velocity control assemblies 1 carry out reciprocal linear motion along direction residing for velocity control element 93, to examination The velocity control element 93 for testing automobile realizes the pressure effect of different depth, so that the position hair of velocity control element 93 It is raw to change, the speed of service of test car is changed with this.

The gear control assembly 2 controls the shifting element 92 of a gear shift lever of test car, i.e. test car, works as institute When stating velocity control assemblies 1 and acting on the velocity control element 93 of test car, the motion of velocity control element 93 changes examination The speed of service of automobile is tested, when the speed of service of test car changes, the gear residing for test car also will be with speed Change and change, a range of speed corresponds to a corresponding gear, therefore the gear control assembly 2 mating reaction In the velocity control assemblies 1, when the gear control assembly 2 receives the velocity pick-up of the velocity control assemblies 1, the shelves Position control assembly 2 makes corresponding action according to the setting of program, so as to drive the gear shift lever of test car to be able to respectively with X Direction and Y-direction are moved along a straight line, so as to complete the switching of gear.

The steering wheel control assembly 3 is fixed on the steering wheel 91 of test car, the steering wheel control assembly 3 by direction When making corresponding rotation according to pre-set programs, the steering wheel 91 for being secured to connection can be driven, so that steering wheel 91 It is able to be subject to corresponding action control.

As shown in figure 5, the velocity control assemblies 1 include one group of pedipulator and one group of pedipulator driver element, control examination The executive component for testing the velocity control element 93 of automobile is one group of pedipulator, and the pedipulator is single in the corresponding driving Under the driving of unit, the instruction according to the control module performs linear motion towards velocity control element 93, realizes speed control Element 93 pushing and reclaiming, so as to change speed, the different straight-line displacement amounts per the pedipulator represent corresponding different cars Speed.

The upper end per the pedipulator is arranged at per the pedipulator driver element, a machinery is included per the pedipulator Leg outer tube and a pedipulator inner tube, wherein the pedipulator inner tube is movably built in the pedipulator outer tube, the machinery Leg inner tube is connected to the pedipulator driver element, and the pedipulator driver element drives the pedipulator inner tube to realize default side To linear motion back and forth, the pedipulator inner tube acts on the velocity control element 93 of test car, so as to realize speed Control element 93 pushing and reclaims.

For the test car of automatic catch, its velocity control element 93 includes a brake pedal and a gas pedal, Therefore the velocity control assemblies 1 include a throttle pedipulator 11 and a braking pedipulator 12, be respectively acting on gas pedal and Brake pedal.It is and for the test car of manual gear, velocity control element 93 also includes a clutch pedal therefore described Velocity control assemblies 1 further include a clutch mechanism leg 13, and the clutch mechanism leg 13 is stepped on towards clutch is acted on Plate.The high-performance autonomous driving robot to be applied to the test car of manual gear described herein, but it is of the invention The professional in field should be understood that the high-performance autonomous driving robot can also be applied to the test car of automatic catch, Can be mentioned that the velocity control assemblies 1 is detachably connectable, so that the high-performance autonomous driving machine The structure of people can also change with actual tests demand, will be described in detail afterwards.

The throttle pedipulator 11, it is described braking pedipulator 12 and the clutch mechanism leg 13 respectively correspondingly toward Gas pedal, brake pedal and clutch pedal, it is worth mentioning at this point that, the throttle pedipulator 11, the braking pedipulator 12 There is identical structure with the clutch mechanism leg 13.

Specifically, the throttle pedipulator 11 includes an accelerator drive unit 111 and a throttle telescopic unit 112, described Braking pedipulator 12 includes a braking braking telescopic unit 122 of driver element 121 and, and the clutch mechanism leg 13 includes one The clutch telescopic unit 131 of clutch driving unit 131 and, because the structure per the pedipulator is all identical, herein with institute State and be described in detail as a example by throttle pedipulator 11.The accelerator drive unit 111 is connected to throttle telescopic unit 112, institute State throttle telescopic unit 112 and further include a throttle pedipulator outer tube 1121 and a throttle pedipulator inner tube 1122, wherein institute State throttle pedipulator inner tube 1122 and be built in the throttle pedipulator outer tube 1121, and the throttle pedipulator inner tube 1122 Length is longer than the throttle pedipulator outer tube 1121.The throttle pedipulator inner tube 1122 is connected to the accelerator drive unit 111, the throttle pedipulator outer tube 1121 is connected to the drive shell of the accelerator drive unit 111.The throttle machinery Leg inner tube 1122 carries out front and rear linear motion under the driving effect of the accelerator drive unit 111, i.e., described throttle machinery Leg inner tube 1122 carries out flexible linear motion relative to the pedipulator outer tube 1121, so as to change in the throttle pedipulator Active force depth of the pipe 1122 to gas pedal.One pedipulator effect end 113 extends the throttle pedipulator inner tube 1122, The pedipulator effect end 113 is made up of rubber, and its quality is identical with the quality of pedal, and the pedipulator acts on end 113 Contact action in pedal, so as to serve certain skid resistance, it is ensured that the operating accuracy of the pedipulator.It is worth mentioning It is that the pedipulator effect end 113 includes the effect effect of an end connecting portion 1131 and end 1132, wherein the effect End connecting portion 1131 is laterally connected to the throttle pedipulator inner tube 1122, the effect end 1132 be longitudinally extended in Effect end connecting portion 1131, so that the effect end 1132 is parallel to the throttle pedipulator inner tube 1122, The effect end 1132 is made up of rubber.Effect end connecting portion 1131 is rotatably connected at the throttle pedipulator Inner tube 1122, so as to rotate the pedipulator effect end 113, can change the present position of the effect end 1132.Work as institute State pedipulator inner tube present position and deviate from the pedal so that the pedipulator inner tube cannot directly act on the pedal, End 113 is acted on by adjusting the pedipulator, you can enable the contact action of effect end 1132 in the pedal, So that the high-performance autonomous driving robot has more preferable adaptability to the different types of test car.

As shown in fig. 7, the high-performance autonomous driving robot further includes a connection pedestal 5, the speed control Component 1, the gear control assembly 2 and the steering wheel control assembly 3 are removably attachable to the connection pedestal respectively 5, when the high-performance autonomous driving robot is applied to automobile test, the connection pedestal 5 is fixed in test car One seat 94.

It is noted that the connection pedestal 5 includes one first face plate of foundation 51 and one second face plate of foundation 52, wherein Second face plate of foundation 52 is upwardly extended in the rear part edge of first face plate of foundation 51, the He of the first face plate of foundation 51 Second face plate of foundation 52 defines the form for foring a similar seat, when the high-performance autonomous driving robot is mounted In the test car, the connection pedestal 5 is fixed in the automotive seat 94 of the test car, wherein first base , in the seat cushion of the automotive seat 94, the contact action of the second face plate of foundation 52 is in the automotive seats for the contact action of seat surface plate 51 The chair back of chair 94.A pair first connectors 53 are upwardly extended in first face plate of foundation 51 respectively, and the first connection described in two The mutually correspondence of part 53.A pair second connectors 54 respectively forwardly extend second face plate of foundation 54, and the second company described in two The mutually correspondence of fitting 54.A pair the 3rd connectors 55 are upwardly extended in the front portion of first face plate of foundation 51, the speed respectively Degree control assembly 1 is removably attachable to the connection pedestal 5 via the 3rd connector 55.The gear control assembly 2 are removably attachable to the connection pedestal 5, the direction via first connector 53 and second connector 54 Disk control assembly 3 is removably attachable to the gear control assembly 2.

Specifically, the 3rd connector 55 includes a connecting substrate 551 and a hook-type latch segment 552, wherein the company Connect substrate 551 to upwardly extend in the front portion of first face plate of foundation 51, the hook-type latch segment 552 is rotatably connected at institute Connecting substrate 551 is stated, the hook-type latch segment 552 and the connecting substrate 551 define to form a connecting rod connecting cavity 550, one Connecting rod 56 is arranged between the 3rd connector 55, and the connecting rod 56 has a pair of connecting rod connection ends 561, described Connecting rod connection end 561 is placed in the connecting rod connecting cavity 550, with this so that the connecting rod 56 is detachably connected In the connection pedestal 5.The velocity control assemblies 1 are connected to the connection pedestal 5 via the connecting rod 56, are worth one It is mentioned that, the cross section of the connecting rod connection end 561 is polygon, the cavity geometry phase of the connecting rod connecting cavity 550 It is matched with the shape that the connecting rod connects end 561.The polygonal shape of the connecting rod connection end 561 is so as to effectively keep away Exempt from the rotation of the connecting rod 56, effectively prevent the behaviour that the connecting rod 56 is rotated and influences the velocity control assemblies 1 Make accuracy.

The hook-type latch segment 552 is rotatably connected at the connecting substrate 551, and the hook-type latch segment 552 is applied With upward active force, the hook-type latch segment 552 is rotated up, and the connecting rod connecting cavity 550 will be in open state, institute The connecting rod connection end 561 for stating connecting rod 56 is pressed into the connecting rod connecting cavity in the presence of external force 550, and the hook-type latch segment 552 is rotated down so that the opening closure of the connecting rod connecting cavity 550, in other words, institute Connecting rod 56 is stated to be snapped in the 3rd connector 55.It is noted that wanting to connect with the velocity control assemblies 1 When the connecting rod 56 for connecing is separated with the connection pedestal 5, it is only necessary to rotate the hook-type latch segment 552 so that the connecting rod Open the opening of connecting cavity 550, you can be isolated.Again it is noted that the connecting rod connects the polygon of end 561 Structure causes the connecting rod 56 to be merely able to and is connected to the connection pedestal 5 with same position, in other words, when the connection Bar 56 is connected to the connection pedestal 5 again, and the direction of the velocity control assemblies 1 keeps constant, and user is without spending The unnecessary time goes to adjust the placement location of the connecting rod 56.

As shown in fig. 6, one group of pedipulator fixation kit 7 is arranged at per the pedipulator 11,12,13, the connecting rod 56, through per the pedipulator fixation kit 7, the corresponding pedipulator are fixed per the pedipulator fixation kit 7 simultaneously 11,12,13, with this so that the velocity control assemblies 1 are connected to the connection pedestal 5.

Specifically, the pedipulator fixation kit 7 is a transverse and longitudinal formula structure, and the pedipulator fixation kit has one laterally The longitudinally fixed pipe 72 of fixing pipe 71 and, wherein the longitudinally fixed pipe 72 is upwardly extended in the horizontal fixing pipe 71, it is described Connecting rod 56 is fixed through the horizontal fixing pipe 71, the longitudinally fixed pipe 72 by identical symmetrical two arc of structure Panel is constituted, and arc fixed panel described in two is via mode connects for screw, so that the pedipulator 11,12,13 is fastened onto The longitudinally fixed pipe 72, by rotating its fixing screws, may be such that the longitudinally fixed pipe 72 is in non-tightening state, so that Change the fixed position of the pedipulator 11,12,13.Can be by the pedipulator 11,12,13 in the longitudinally fixed pipe 72 It is mobile, so that change the pedipulator 11,12, the distance of 13 to pedal, pedal and the seat 94 of different types of test car The distance between have differences, in order that the high-performance autonomous driving robot can be applied to any kind of automobile, The effective interaction length of the pedipulator 11,12,13 can be adjusted by the folding of the longitudinally fixed pipe 72.The useful effect Length refers to acting on the distance between end 113 from the connecting rod 56 to the pedipulator.Wherein when the pedipulator 11, 12,13 through the longitudinally fixed pipe 72 when, the caliber of the longitudinally fixed pipe 72 matches together in the pedipulator outer tube Caliber, therefore the change of the effective interaction length of the pedipulator 11,12,13 does not interfere with the flexible of the pedipulator inner tube Situation.

It is described to hold in order to improve adaptability of the high-performance autonomous driving robot for different types of test car Units position adjusting type modules 6 include one group of pedipulator position adjustment part 61, are connected per the pedipulator position adjustment part 61 In the lower surface per the horizontal fixing pipe 71, wherein the effective interaction length of the pedipulator 11,12,13 can be by described vertical It is adjusted to fixing pipe 72, and the pedipulator position adjustment part 61 is used to adjust the pedipulator 11,12,13 inclination Angle.The pedipulator position adjustment part 61 includes the adjustment part force adjustment part forced section 612 of end 611 and, wherein institute Adjustment part forced section 612 is stated while adjustment part force end 611 are connected, the horizontal fixing pipe is connected to again 71, the adjustment part forced section 612 is forced in by adjustment part force end 611 so that the adjustment part forced section 612 It is moved, so as to drive the movement of the connected pedipulator fixation kit 7, the pedipulator 11,12 is changed with this, 13 angle of inclination.

Specifically, the adjustment part force end 611 has a steady pin long 6111, a short steady pin 6112 and a connecting rod 6113, the short steady pin 6112 is located at the back lower place of the steady pin long 6111, and the connecting rod 6113 is via described long fixed Pin 6111 extends to the short steady pin 6112.The adjustment part forced section 612 includes that one fixes the telescopic fork of fork arm 6121 and Bar 6122, wherein the fixation fork bar 6121 is fixed in the horizontal fixing pipe 71, the flexible fork arm 6122 is through institute State fixed fork arm 6121, the steady pin long 6111 is through the end of the fixed fork arm 6121, the short steady pin 6112 Through the end of the flexible fork arm 6122, with this so that the adjustment part forced section 612 is connected to the adjustment part applies Power end 611.The flexible fork arm 6122 has scalability, and the adjustment part force end 611 further includes a pull bar 6114, by pulling the rotatable pedipulator fixation kit 7 of the pull bar 6114, so as to change the pedipulator 11,12,13 Angle of inclination.

Specifically, the longitudinally fixed pipe 72 extends the horizontal fixing pipe 71, therefore the pedipulator 11,12,13 Angle of inclination determined that rotating the horizontal fixing pipe 71 can change the pedipulator 11 by the horizontal fixing pipe 71, 12,13 angle of inclination, rotates for convenience and effortlessly the horizontal fixing pipe 71, the high-performance autonomous driving robot There is provided the pedipulator position adjustment part 61.When the pedipulator fixation kit 7 turns to certain angle, the telescopic fork To first face plate of foundation 51, the flexible fork arm 6122 has scalability energy to the meeting contact action of bar 6122, by the body of rod Contraction can expand the rotational angle of the pedipulator fixation kit 7.

The gear control assembly 2 includes a gear shifting manipulator 21 and a gearshift driver element 22, the gear shifting manipulator 21 shifting elements 92 for being connected to the test car, the gearshift driver element 22 includes an X to driver element 222 With a Y-direction driver element 221, the X to driver element 222 drive the gear shifting manipulator 21 along X to carry out come and go it is straight Line is moved, and the Y-direction driver element 221 drives the gear shifting manipulator 21 to carry out round linear motion, the X along Y-direction It is separate to driver element 222 and the Y-direction driver element 221.The manipulator 21 is so as to act on gear shift lever so that row Pin makes the conversion of gear.

The gear control assembly 2 further includes a housing 4, and the housing 4 is via first connector 53 and institute State the second connector 54 and be connected to the connection pedestal 5, the X is arranged at the housing 4, the Y-direction to driver element 222 Driver element 221 is connected to the gear shifting manipulator 21, and a manipulator fixation kit 8 is arranged at the gear control assembly 2, the gear shifting manipulator 21 is removably attachable to the X to driver element 222 by the manipulator fixation kit 8.It is worth One is mentioned that, the housing 4 additionally provides the Power Supply Assembly of the high-performance autonomous driving robot.

As shown in Fig. 8, Fig. 9 a, Fig. 9 b, Figure 10 a, Figure 10 b, the manipulator fixation kit 8 includes that a manipulator first is consolidated Determine the second fixture of manipulator 82 of part 81 and, the first fixture of the manipulator 81 has a manipulator fixing groove 810, described Gear shifting manipulator 21 is fixed in the manipulator fixing groove 810, and the first fixture of the manipulator 81 has the company of a transverse direction Spindle connecting cavity 811, the connecting shaft 821 of a transverse direction extends the second fixture of the manipulator 82, and the connecting shaft 821 runs through In the connecting shaft connecting cavity 811, so that the first fixture of the manipulator 81 could be detachably connected to the manipulator Second fixture 82.The outlet of the connecting shaft connecting cavity 811 is provided with an elastic locking portion 812 and a fixed handle 813, described Fixed handle 813 extends the elastic locking portion 812, by rotating the fixed handle 813 so that the manipulator first Fixture 81 is firmly fastened to the second fixture of the manipulator 82, while so that the gear shifting manipulator 21 is fastened onto institute State manipulator fixing groove 810.

The gear shifting manipulator 21 includes a manipulator outer tube 211 and a manipulator inner tube 212, the manipulator inner tube 212 are movably built in the manipulator outer tube 211, and the housing of the Y-direction driver element 221 is extended outside the manipulator The lower surface of pipe 211, the manipulator inner tube 212 is connected to the Y-direction driver element 222, and the Y-direction driver element 222 drives Move the manipulator inner tube 212 and carry out round linear motion along Y-direction, a drive link 223 is via the X to driver element 222 extend to the manipulator fixation kit 8, and the X drives the drive link 223 past to carrying out along X to driver element 222 The linear motion for returning, so as to realize the X of the gear shifting manipulator 21 to movement, so as to drive the motion of the gear shift lever.

The Y-direction of the Y-direction driver element 221 refers to the bearing of trend residing for the gear shifting manipulator 21, and the Y-direction is driven Moving cell 221 is arranged at the lower section of the gear shifting manipulator 21, when the gear shifting manipulator 21 is fixed in the manipulator During the first fixture 81, the Y-direction driver element 221 is simultaneously also fixed in the first fixture of the manipulator 81.The X It is used to drive the gear shifting manipulator 21 to move along the X direction to driver element 222, so as to realize the gear selecting of the gear shift lever. Wherein X is to referring to direction residing for the connecting rod 56.

When the manipulator inner tube 212 is subject to the driving of the Y-direction driver element 221, the manipulator inner tube 212 is taken Advance or the backward movement of Y-direction are performed with the instruction of pre-set programs with gear shift lever, so as to complete gearshift behavior.Changed when described When gear manipulator 21 performs gear shifting action, vis-a-vis the first fixture of the manipulator 81 keeps the manipulator outer tube 211 Transfixion state, and the manipulator inner tube 212 vis-a-vis the manipulator outer tube 211 carries out the round straight line fortune of Y-direction It is dynamic.

The gear control assembly 2 further includes a gear retaining piece 23, and the gear retaining piece 23 can be divided The liftoff end for being connected to the manipulator inner tube 212, the gear retaining piece 23 has a fixing chamber 230, test car Shifting element 92 gear shift head be placed on the fixing chamber 230, so as to the gear shifting manipulator 21 is able to be located in change Gear element 92.The gear retaining piece 230 could be detachably connected to the manipulator inner tube 212, the gear retaining piece 230 have Multiple Type, can carry out selection assembling according to the virtual condition of test car such that it is able to operate different types of examination Test the shifting element 92 of the gear shift lever of automobile, i.e. test car.

It is noted that by rotating the fixed handle 813, may be such that the manipulator fixing groove 810 is in lock Tight state, so that the gear shifting manipulator 21 and the Y-direction driver element 221 are firmly fastened to the manipulator the One fixture 81.The first fixture of the manipulator 81 also provides position of manipulator adjustment function, by rotating the fixation Handle 813 so that the manipulator fixing groove 810 is in deployed condition, such that it is able to move the gear shifting manipulator along Y-direction 21 so that the gear retaining piece 23 can be located at suitable position, so that the high-performance autonomous driving robot There is more preferable adaptability in face of the different types of test car.

The actuator positions adjusting module 6 further includes a position of manipulator adjusting lever 62, the manipulator position Put adjusting lever 62 to upwardly extend in the end of the drive link 223, the second fixture of the manipulator 82 has the tune of a longitudinal direction Whole bar holding tank 822, the position of manipulator adjusting lever 62 is separately fixed to the adjusting lever holding tank 822, so that can Change the clip position of the position of manipulator adjusting lever 62 of the manipulator fixation kit 8 pairs.

The second fixture of the manipulator 82 further includes a tight lock part 823 and an adjustment handle 824, wherein the lock Tight portion 823 is arranged at the opening of the adjusting lever holding tank 822, and the adjustment handle 824 is connected to the tight lock part 823, leads to Cross rotate it is described adjustment handle 824 may be such that the tight lock part 823 be in locking state so that adjusting lever holding tank 822 The position of manipulator adjusting lever 62 is securely clamped, that is, prevents the manipulator fixation kit 8 along manipulator position Put adjusting lever 62 to glide, so as to avoid influenceing the operation of the high-performance autonomous driving robot.

By rotating the adjustment handle 824 so that the adjusting lever holding tank 822 is in non-locking state, so that can Part 82 is determined to move the manipulator second solid 62 along the position of manipulator adjusting lever 62, so as to change the gearshift machinery The height of hand 21.It is noted that the shape of cross section of the position of manipulator adjusting lever is polygon, the adjustment bar cramp The cell body cross section for holding groove 822 is matched polygonal shape, when each portion of the high-performance autonomous driving robot When bit architecture is combined, user need not spend the unnecessary time to adjust the parallel shape of the manipulator fixation kit 8 State, i.e., described manipulator fixation kit 8 can easily be parallel to the drive link 223, so as to improve the accurate of assembling Property so that the gear shifting manipulator 21 is at Y-direction.When the X drives the drive link 223 along X to driver element 222 To being moved along a straight line, the drive link 223 cause the connected manipulator fixation kit 8 carry out simultaneously X to Linear motion, that is, realize the X of the gear shifting manipulator 21 to motion.

It is noted that the second fixture of the manipulator 82 and the first fixture of the manipulator 81 has respectively Smooth binding face, so that after the first fixture of the manipulator 81 is connected to the second fixture of the manipulator 82, institute Stating manipulator fixing groove 810 can be located at Y-direction.The first fixture of the manipulator 81 and the second fixture of the manipulator 82 Binding face has one group of tooth 815,825 of mutual cooperation respectively, when the first fixture of the manipulator 81 is via the connecting shaft 821 when being connected to second fixture 82 of manipulator, and the tooth 815,825 is intermeshed, so that the manipulator is solid Determine groove 810 and be positioned at Y-direction with being refined, when the first fixture of the manipulator 81 has favoured the manipulator second During fixture 82, user just can soon have found and is adjusted.

As is illustrated by figs. 11 and 12, the steering wheel control assembly 3 includes that a steering wheel clamping part 31 and a steering wheel turn Dynamic component 32, wherein the steering wheel clamping part 31 is used for the wheel rim of the steering wheel 91 of clamp assay automobile, the steering wheel turns Dynamic component 32 includes a runing rest 321, a power part 322, a rotating part 323 and a location division 324, wherein the rotating part 323 extend to the runing rest 321 by the power part 322, and the location division 324 is arranged at the rotating part 323, institute State steering wheel clamping part 31 and could be detachably connected to the runing rest 321, the first support bar 631 is connected to the positioning Portion 324, the power part 322 drives the rotating part 323 to rotate, so as to drive the runing rest 321 and the steering wheel The rotation of clamping part 31 so that the steering wheel 91 of test car is rotated.

Specifically, the runing rest 32 equably extends three supports 3211 from pivot to surrounding, wherein every institute State presentation identical angle between support 3211.Accordingly, the steering wheel control assembly 3 includes steering wheel clamping described in three Portion 31, respectively extends from the corresponding support 3211, so that the steering wheel energy per the steering wheel clamping part 31 Enough equably by the chucking power of the steering wheel clamping part 31, and then when the steering wheel control assembly 3 is rotated, the side Stabilization and uniform rotating force are obtained in that to disk, so that the operation for improving the high-performance autonomous driving robot is accurate Property.

The steering wheel clamping part 31 includes an adjustment portion 311 and a fixed part 312, wherein the fixed part 312 is connected The runing rest 321 is connected to, the adjustment portion 311 is pivotably coupled to the fixed part 312, by rotating the regulation Portion 311 can change the distance between the adjustment portion 311 and described fixed part 312, and a retaining ring 313 is arranged at the adjustment portion 311, the adjustment portion 311 is used for the wheel rim of the steering wheel 91 of clamp assay automobile.The retaining ring 313 has the lock of an annular Tight face, the locking face defines to form a lock chambers, and simultaneously, the retaining ring 313 has a lock opening, steering wheel rim Enter the lock chambers via the lock opening, so as to be locked by the retaining ring 313.

The fixed part 312 has a fixed part connecting cavity 3121, and the fixed part connecting cavity 3121 is toward the rotation Turn support 321, and the fixed part connecting cavity 3121 the support that matches together in the runing rest 321 of cavity size 3211 shape, when the fixed part 312 is connected to the runing rest 321, the end of the support 3211 is placed in described Fixed part connecting cavity 3121.End per the support 3211 has one group of connecting hole 3212 respectively, correspondingly, per the fixation The cavity panel of the fixed part connecting cavity 3121 in portion 312 has one group of fixed part connecting hole 3122, wherein the fixed part Connecting hole 3122 is toward the corresponding connecting hole 3212, so that the mode connects for screw of the fixed part 312 is in the rotation Turn support 321, one of which screw is simultaneously through the connecting hole 3212 and the fixed part connecting hole 3122.

One group of extension rod 314 is arranged between the adjustment portion 311 and the fixed part 312, in other words, the regulation Portion 311 extends the fixed part 312 via the extension rod 314, and the quantity of the extension rod 314 may be selected to be three.Institute Fixed part 312 is stated with three extension rod connecting cavities 3123, UNICOM is distinguished per the extension rod connecting cavity 3123 in the fixed part 312 former and later two end faces, identical distance, the bar footpath phase of the extension rod 314 are spaced per the extension rod connecting cavity 3123 The cavity of the extension rod connecting cavity 3123 is matched with, the extension rod 314 extends to the fixation via the adjustment portion 311 Portion 312, the extension rod 314 is placed in the extension rod connecting cavity 3123.It is noted that the He of the extension rod 314 The extension rod connecting cavity 3123 has corresponding screw thread respectively, therefore the adjustment portion 311 is via the screw thread of the extension rod 314 It is connected to the fixed part 312.Wherein include two stands plate, supporting plate block gap one described in two respectively per the support 3211 Fixed distance, defines to form a scalloped channels 3213, when the fixed part 312 is connected to the support 3211, wherein an institute Extension rod 314 is stated to enter in the scalloped channels 3213.By adjusting the extension rod 314 in the extension rod connecting cavity 3123 Interior length, can change the present position of the retaining ring 313, when the type of test car is different, the size of steering wheel 91 Different, the regulation that the steering wheel clamping part 31 passes through the extension rod 314 may be such that the high-performance autonomous driving machine Device people can adapt in different types of test car.

The actuator positions adjusting module 6 further includes a runing rest position adjustment part 63, the rotation branch Rack position adjustment part 63 extends to the steering wheel control assembly 3 via the housing 4, and the housing 4 is connected with a housing Bar 41 and one connects panel 42, and the housing connecting rod 41 is laterally arranged in the top of the housing 4, i.e., described housing connection Parallel to the housing 4, the connection panel 42 is connected to the middle part of the housing connecting rod 41, and the connection to bar 41 Panel 42 is inclined upwardly in the housing connecting rod 41.The runing rest position adjustment part 61 respectively connected the steering wheel Control assembly 3 and the connection panel 42, the position of the steering wheel control assembly 3 is changed with this.

Specifically, the runing rest position adjustment part 63 includes a first support bar 631, the He of a second support bar 632 One regulation connecting portion 633, wherein the second support bar 632 extends the housing 4, the first support bar 631 is via institute State adjustment connecting portion 633 and be rotatably connected at the second support bar 632, the first support bar 632 is connected to institute simultaneously Steering wheel control assembly 3 is stated, a regulation handle 634 is arranged at the regulation connecting portion 633, by rotating the regulation handle The 634 rotatable first support bars 631, so as to change the angle of inclination of the steering wheel control assembly 2.

It is noted that wherein described second support bar 632 is fixedly connected to the connection panel 42, by described Effect adjustable length of the first support bar 631 relative to the second support bar 632 and the inclination of regulation connecting portion 633 Angle.When the regulation connecting portion 633 is unlocked, user can according to actual needs adjust first support Bar 631, after it is determined that wanting suitable length and angle of inclination, screws the regulation handle 634 and may be such that the regulation connection Portion 633 is in locking state, i.e., described first support bar 631 can be connected to the second support bar with fixed position form 632.So that the steering wheel 91 to be adapted to the test car of different height.

Wherein described rotating part 323 includes a rotating shaft 3231 and a gear 3232, wherein the rotating shaft 3231 is by described dynamic Power portion 322 extends to the runing rest 321, and the center of the runing rest 321 has a gear placing chamber 3210, the rotation The gear 3232 of transfer part 323 is installed in the gear placing chamber 3210.The location division includes a support corner seat 3241, the support corner seat 3241 has the positioning chamber of a longitudinal direction, and the rotating shaft 3231 is via the positioning chamber through institute Support corner seat 3241 is stated, so that the support corner seat 3241 is rotatably connected at the rotating shaft 3231, and position In the top of the gear 3232.

A pair of support connecting portions 3242 respectively extend from the left and right sides of the support corner seat 3241, first support Bar 631 has a connection end 6311, and the connection end 6311 supports corner seat 3241, the connection end toward described 6311 connection functions support connecting portion 3242 in described, with this so that the steering wheel control assembly 3 is connected to the housing 4. The power part 322 provides power according to the instruction of program, so that drive the rotating part 323 to rotate, the rotating part 323 The gear 3232 has driven the motion of the runing rest 321, so as to impose corresponding action to the steering wheel 91.It is described Rotating part 323 during rotation, because the location division 324 is connected to rotation Support Position adjustment part 63, institute State location division 324 to remain stationary as in this process, i.e., described rotating part 323 is moved relative to the location division 324.

The throttle pedipulator 11, the braking pedipulator 12 and the clutch mechanism leg 13 are the pedal of test car Executive component, respectively correspondingly control corresponding pedal per the pedipulator 11,12,13.The gear shifting manipulator 21 is Control the executive component of the shifting element 92 of the test car.All there is the corresponding drive per the executive component Moving cell, wherein the pedipulator driver element 111,121,131 is connected to corresponding pedipulator 11,12,13, so as to drive The dynamic pedipulator 11,12,13 realizes the linear motion along direction residing for the pedipulator body of rod.

The driver element of the gear shifting manipulator 21 is from the Y-direction driver element 221 and the X to driver element 222 compositions, wherein the X is arranged at the housing 4 to driver element 222, the X is to driver element 222 via the transmission Bar 223 is connected to the manipulator fixation kit 8, the X to driver element 222 drive the drive link 223 realize X to it is straight Line move so that the connected manipulator fixation kit 8 and the gear shifting manipulator 21 realize synchronous X to Rectilinear movement so that the shifting element 92 of test car realizes gear selecting.The Y-direction driver element 221 is connected to the gearshift machine Tool hand 21, so as to drive the gear shifting manipulator 21 to realize the movement of Y-direction so that the shifting element 92 of test car is realized changing Gear.

The rotation of the steering wheel runner assembly 32 is driven by the direction disk drive unit, the direction disk drive unit It is arranged at the power part 322.

Described information feedback module is arranged at the drive module, and described information feedback module includes a series of biography Sensing unit, the sensing element be used to monitor speed and the displacement of the drive module, and the driver element is used to be watched The drive form of motor is taken, so as to improve the accuracy of the executive component, described information feedback module and the drive module It is connected to the control module.When the sensing element of described information feedback module monitors that the pedipulator drives mould After the speed of block and displacement, monitoring information is fed back to the control module by described information feedback module, and the control module refers to Making the robot drives module operation carries out the switching of gear, so as to realize the speed of the test car and matching somebody with somebody for gear Close.

The control module includes a default compiler, and the pre-set programs decide each of the executive component Action, the different motion speed scope of test car correspond to different gears, therefore when test car reaches different motions After speed, shifting element 92 need to perform gearshift.In other words, each described drive module of the high-performance autonomous driving robot it Between operation need cooperate, wherein realizing the tune of each drive module by the pre-set programs of the control module Control.

The pedipulator 11,12,13 realizes pushing and reclaiming for the pedal of test car by linear motion, so as to change The Influence of Displacement that pushes of the speed of service of test car, wherein pedal the speed of service, i.e., the position of described pedipulator 11,12,13 Shifting represents corresponding speed, and this is all arranged in the compiler of the control module.

The high-performance autonomous driving robot also includes a teaching box, the pre-set programs of the control module according to Teaching activity is compiled so that the high-performance autonomous driving robot has memory capability.Independently driven in the high-performance Before sailing robot work, user carries out teaching activity by the teaching box to the high-performance autonomous driving robot, By human-machine operation so that the autonomous driving robot has memory capability, when the confession of the high-performance autonomous driving robot Electrical component is experienced after interrupting and restarting, it is not necessary to debugged again, and execution record before is all recorded in the teaching box.

It is noted that high-performance autonomous driving robot of the invention also includes an Anti-interference Design, wherein in inspection The power line leading-in end for surveying monitoring system adds power circuit wave filter, suppresses the noise of power supply, logical in On-off signal output Increase photoisolator on road to remove influence of the scene interference to the control system.

It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing And it is not intended to limit the present invention.The purpose of the present invention completely and is effectively realized.Function of the invention and structural principle exist Show in embodiment and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.

Claims (15)

1. a kind of high-performance autonomous driving robot for automobile test, it is characterised in that including

One control module, the control module have a default compiler, the high-performance autonomous driving robot according to The pre-set programs perform relevant action；

One information feedback module, described information feedback module includes a series of sensing elements, and the sensing element gathers the height The action of performance autonomous driving robot and be converted to can input signal feed back to the control module；

One drive module, the drive module includes a series of driver elements and a series of executive components, wherein described perform unit Part has the respective driver element, and a steering wheel of Control experiment automobile, a gearshift are distinguished per the executive component Element and a velocity control element, the driver element drive the executive component to realize the linear motion of preset direction, described Information feedback module is arranged at the drive module, to monitor operation displacement and the speed of the drive module, the control Module is according to the corresponding driver element operation of the feedback signal of described information feedback module instruction or terminates, wherein, it is described Driver element using servomotor type of drive, the drive module is a velocity control assemblies, a gear control assembly and One steering wheel control assembly, wherein the velocity control element of the velocity control assemblies control operation test car, the gear The shifting element of control assembly control operation test car, the direction of the steering wheel control assembly control operation test car Disk；With

One actuator positions adjusting module, the executive component adjusting module is respectively arranged at per the executive component, operation The executive component adjusting module changes the present position direction per the executive component so that the high-performance autonomous driving machine When device people is applied to different types of use automobile, suitable position can be located at per the executive component to realize accurate behaviour Make；

The high-performance autonomous driving robot further includes a connection pedestal, the velocity control assemblies, the gear control Component processed and the steering wheel control assembly are removably attachable to the connection pedestal, the high-performance autonomous driving respectively When robot is applied to automobile test, the connection pedestal is fixed in a seat of test car；

The connection pedestal includes one first face plate of foundation and one second face plate of foundation, wherein second face plate of foundation prolongs upwards The rear part edge of first face plate of foundation is stretched in, a pair first connectors are upwardly extended in first face plate of foundation respectively, A pair second connectors respectively forwardly extend second face plate of foundation, and a pair the 3rd connectors are upwardly extended in described respectively The front portion of the first face plate of foundation, the velocity control assemblies are removably attachable to the connection via the 3rd connector Pedestal, the gear control assembly is removably attachable to the company via first connector and second connector Pedestal is connect, the steering wheel control assembly is removably attachable to the gear control assembly；

The velocity control assemblies include one group of pedipulator and one group of pedipulator driver element, are set per the pedipulator driver element The upper end per the pedipulator is placed in, a pedipulator outer tube and a pedipulator inner tube is included per the pedipulator, wherein described Pedipulator inner tube is movably built in the pedipulator outer tube, and the pedipulator inner tube is connected to the pedipulator and drives list Unit, the pedipulator driver element drives the pedipulator inner tube to realize the linear motion back and forth of preset direction, the machinery Leg inner tube acts on the velocity control element of test car, so as to realize pushing and reclaiming for velocity control element；

3rd connector includes a connecting substrate and a hook-type latch segment, wherein the connecting substrate is upwardly extended in described The front portion of the first face plate of foundation, the hook-type latch segment is rotatably connected at the connecting substrate, the hook-type latch segment and The connecting substrate is defined to form a connecting rod connecting cavity, and a connecting rod is arranged between the 3rd connector, the connection Bar has a pair of connecting rod connection ends, and the connecting rod connection end is placed in the connecting rod connecting cavity, with this so that institute State connecting rod and be removably attachable to the connection pedestal, one group of pedipulator fixation kit is arranged at per the pedipulator, The connecting rod fixes the corresponding machine per the pedipulator fixation kit simultaneously through per the pedipulator fixation kit Tool leg, with this so that the velocity control assemblies are connected to the connection pedestal.

2. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 1, it is characterised in that described Pedipulator fixation kit has a horizontal fixing pipe and a longitudinally fixed pipe, wherein the longitudinally fixed pipe is upwardly extended in described Horizontal fixing pipe, the connecting rod is through the horizontal fixing pipe, and the longitudinally fixed pipe is identical symmetrical by structure Two arc fixed panels are constituted, and arc fixed panel described in two is via mode connects for screw, so that the pedipulator is fastened In the longitudinally fixed pipe, by rotating its fixing screws, may be such that the longitudinally fixed pipe is in non-tightening state, so as to change Become the fixed position of the pedipulator.

3. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 1, it is characterised in that described The cross section of connecting rod connection end is polygon, and the cavity geometry of the connecting rod connecting cavity matches and connects together in the connecting rod Connect the shape of end.

4. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 2, it is characterised in that described The cross section of connecting rod connection end is polygon, and the cavity geometry of the connecting rod connecting cavity matches and connects together in the connecting rod Connect the shape of end.

5. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 4, it is characterised in that described Actuator positions adjusting module includes one group of pedipulator position adjustment part, is connected to often per the pedipulator position adjustment part The lower surface of the horizontal fixing pipe, wherein the pedipulator position adjustment part includes an adjustment part force end and an adjustment part Forced section, the adjustment part stress end has a steady pin long, a short steady pin and a connecting rod, and the short steady pin is located at institute The back lower place of steady pin long is stated, the connecting rod extends to the short steady pin, the adjustment part stress via the steady pin long Portion includes that one fixes fork arm and a flexible fork arm, wherein the fixation fork bar is fixed in the horizontal fixing pipe, it is described flexible Fork arm runs through through the fixed fork arm, the steady pin long through the end of the fixed fork arm, the short steady pin It is described with this so that the adjustment part forced section is connected to the adjustment part force end in the end of the flexible fork arm Flexible fork arm has scalability, and the adjustment part force end further includes a pull bar, can be revolved by pulling the pull bar Turn the pedipulator fixation kit, so as to change the angle of inclination of the pedipulator.

6. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 1, it is characterised in that described Gear control assembly includes a gear shifting manipulator and a gearshift driver element, and the gear shifting manipulator is connected to test car Shifting element, the gearshift driver element includes an X to driver element and a Y-direction driver element, and the X drives to driver element The gear shifting manipulator along X to carrying out round linear motion, the Y-direction driver element drive the gear shifting manipulator along Y-direction carries out round linear motion, and the X is separate to driver element and the Y-direction driver element.

7. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 5, it is characterised in that described Gear control assembly includes a gear shifting manipulator and a gearshift driver element, and the gear shifting manipulator is connected to test car Shifting element, the gearshift driver element includes an X to driver element and a Y-direction driver element, and the X drives to driver element The gear shifting manipulator along X to carrying out round linear motion, the Y-direction driver element drive the gear shifting manipulator along Y-direction carries out round linear motion, and the X is separate to driver element and the Y-direction driver element.

8. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 7, it is characterised in that described Gear control assembly further includes a housing, and the housing is connected to via first connector and second connector The connection pedestal, the X is arranged at the housing to driver element, and the Y-direction driver element is connected to the gearshift Manipulator, a manipulator fixation kit is arranged at the gear control assembly, and the manipulator fixation kit is by the gearshift Manipulator is removably attachable to the X to driver element.

9. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 8, it is characterised in that described Gear shifting manipulator includes a manipulator outer tube and a manipulator inner tube, and the manipulator inner tube is movably built in the machinery Hand outer tube, the housing of the Y-direction driver element extends the lower surface of the manipulator outer tube, and the manipulator inner tube is connected to The Y-direction driver element, the Y-direction driver element drives the manipulator inner tube to carry out round linear motion, one along Y-direction Drive link extends to the manipulator fixation kit via the X to driver element, and the X drives the transmission to driver element Bar along X to carrying out round linear motion, so as to realize the X of the gear shifting manipulator to movement.

10. a kind of high-performance autonomous driving robot for automobile test as claimed in claim 9, it is characterised in that institute Stating manipulator fixation kit includes first fixture of manipulator and second fixture of manipulator, and the manipulator first is fixed Part has a manipulator fixing groove, and the gear shifting manipulator is fixed in the manipulator fixing groove, and the manipulator first is consolidated Determine connecting shaft connecting cavity of the part with a transverse direction, the connecting shaft of a transverse direction extends the fixture of the manipulator second, the company Spindle is through the connecting shaft connecting cavity, so that the fixture of the manipulator first could be detachably connected to the machinery The fixture of hand second, the outlet of the connecting shaft connecting cavity is provided with an elastic locking portion and a fixed handle, the fixed handle The elastic locking portion is extended, by rotating the fixed handle so that the fixture of the manipulator first is securely connected In the fixture of the manipulator second, while so that the gear shifting manipulator is fastened onto the manipulator fixing groove,

The actuator positions adjusting module further includes a position of manipulator adjusting lever, the position of manipulator adjusting lever Upwardly extend in the end of the drive link, the fixture of the manipulator second has the adjusting lever holding tank of a longitudinal direction, described Position of manipulator adjusting lever is separately fixed to the adjusting lever holding tank, so as to the manipulator fixation kit pair can be changed The clip position of the position of manipulator adjusting lever.

A kind of 11. high-performance autonomous driving robots for automobile test as claimed in claim 9, it is characterised in that institute State gear control assembly and further include a gear retaining piece, the gear retaining piece could be detachably connected to the machine The end of tool hand inner tube, the gear retaining piece has a fixing chamber, the gear shift head quilt cover of the shifting element of test car It is placed in the fixing chamber.

A kind of 12. high-performance autonomous driving robots for automobile test as claimed in claim 8, it is characterised in that institute State actuator positions adjusting module and further include a runing rest position adjustment part, the runing rest position adjustment part warp The steering wheel control assembly is extended to by the housing, the runing rest position adjustment part includes a first support bar, one Second support bar and a regulation connecting portion, wherein the second support bar extends the housing, the first support bar via The adjustment connecting portion is rotatably connected at the second support bar, and the first support bar is connected to the steering wheel simultaneously Control assembly a, regulation handle is arranged at the regulation connecting portion, rotatable described first by rotating the regulation handle Strut, so as to change the angle of inclination of the steering wheel control assembly.

A kind of 13. high-performance autonomous driving robots for automobile test as claimed in claim 11, it is characterised in that institute State actuator positions adjusting module and further include a runing rest position adjustment part, the runing rest position adjustment part warp The steering wheel control assembly is extended to by the housing, the runing rest position adjustment part includes a first support bar, one Second support bar and a regulation connecting portion, wherein the second support bar extends the housing, the first support bar via The adjustment connecting portion is rotatably connected at the second support bar, and the first support bar is connected to the steering wheel simultaneously Control assembly a, regulation handle is arranged at the regulation connecting portion, rotatable described first by rotating the regulation handle Strut, so as to change the angle of inclination of the steering wheel control assembly.

A kind of 14. high-performance autonomous driving robots for automobile test as claimed in claim 13, it is characterised in that institute Stating steering wheel control assembly includes a steering wheel clamping part and a steering wheel runner assembly, wherein the steering wheel clamping part is used for The wheel rim of the steering wheel of clamp assay automobile, the steering wheel runner assembly includes a runing rest, a power part, a rotating part With a location division, wherein the rotating part extends to the runing rest by the power part, the location division is arranged at institute Rotating part is stated, the steering wheel clamping part could be detachably connected to the runing rest, and the first support bar is connected to described Location division, the power part drives the rotating part rotation, so as to drive the runing rest and the steering wheel clamping part Rotate so that the steering wheel of test car is rotated.

A kind of 15. high-performance autonomous driving robots for automobile test as claimed in claim 14, it is characterised in that institute Stating steering wheel clamping part includes an adjustment portion and a fixed part, wherein the fixed part is connected to the runing rest, it is described Adjustment portion is pivotably coupled to the fixed part, and the adjustment portion can be changed with the fixed part by rotating the adjustment portion The distance between, a retaining ring is arranged at the adjustment portion, and the adjustment portion is used for the wheel rim of the steering wheel of clamp assay automobile.