CN106840705A - A kind of Vehicle Driver Robot steering mechanical hand - Google Patents
A kind of Vehicle Driver Robot steering mechanical hand Download PDFInfo
- Publication number
- CN106840705A CN106840705A CN201710164083.1A CN201710164083A CN106840705A CN 106840705 A CN106840705 A CN 106840705A CN 201710164083 A CN201710164083 A CN 201710164083A CN 106840705 A CN106840705 A CN 106840705A
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- China
- Prior art keywords
- steering
- motor
- handgrip
- slide plate
- mechanical hand
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Controls (AREA)
Abstract
The present invention provides a kind of Vehicle Driver Robot steering mechanical hand, including base, slide plate, sliding block, vertical rod, motor seat frame, steering motor, telescopic shaft, rzeppa joint, steering pawl disk, steering handgrip；Wherein base is fixed on automotive interior and sets vertical lines rail groove, slide plate is moved along base vertical lines rail groove and slide plate sets horizontal rectilinear orbit groove, sliding block is moved along slide plate transverse direction rectilinear orbit groove, vertical rod one end is connected with sliding block rotation and the other end is rotated with motor seat frame bottom surface and is connected, steering motor is fixed on motor cabinet inframe, telescopic shaft one end is fixedly connected with the output shaft of steering motor and the other end is connected with rzeppa joint input, rzeppa joint output end is fixedly connected with catching plate is turned to, turn to handgrip set three and respectively with turn to catching plate be flexibly connected, turn to handgrip and the hook formation for supplying clamping car steering wheel is set.The manipulator can carry out steering operation in motor road test instead of human driver.
Description
Technical field
The present invention relates to a kind of servomechanism technology, particularly a kind of Vehicle Driver Robot steering mechanical hand.
Background technology
Vehicle Driver Robot steering mechanical hand is installed on Vehicle Driver Robot, with drive robot gearshift machine
The execution unit coordinate operation such as tool hand and pedipulator, so as to realize the device of automobile different kinds of roads working condition tests.It is required that structure
Compact, succinct and convenient installation can accurately carry out steering operation.
There is certain research for drive robot steering mechanical hand both at home and abroad, understand China specially by patent searching storehouse
Sharp Application No. 200410065844.0, the patent of entitled " gas electric hybrid type driving robot for automobile test " discloses one
The gas electric hybrid type driving robot device that can realize being carried out instead of human driver on chassis dynamometer automobile test is planted,
This covering device carries direction tray fixing device, therefore the robot can not realize the operation that is turned to steering wheel, therefore
There is certain limitation in the type tested.
Chinese Patent Application No. is 201410174404.2, and the patent of entitled " a kind of automatic driving robot " is public
A kind of automatic driving robot is driven, it includes two pedal driving devices and a direction disk drive device.Its steering wheel
Drive device is driven by a disk type hollow motor, by controlling the rotational angle and speed of disc type hollow motor, can be with electrical automobile
Steering column, so as to drive vehicle wheel rotation.The control ability to steering column is in emergency circumstances lost after motor power-off, driver can
Artificially to be manipulated to steering wheel again, to tackle the dangerous situation that may occur.But this set from for other side
Device is not liberated mankind driver completely, it is still desirable to artificially drive robot is intervened to reach expected mesh
's.
Chinese Patent Application No. is 201410392104.1, and entitled " a kind of high-performance for automobile test is independently driven
Sail robot " patent disclose a kind of high-performance autonomous driving robot for automobile test, its steering wheel control group
Part includes a steering wheel clamping part and a steering wheel runner assembly, although can flexibly be adapted to the steering wheel of different model,
But structure slightly shows complexity, and cost aspect may be of a relatively high.
It is existing as shown in the above to be likely present so in terms of the research of drive robot steering mechanical hand
Such problem and limitation, need to be sought a kind of more preferable structure type to realize corresponding test operation.
The content of the invention
It is an object of the invention to provide a kind of Vehicle Driver Robot steering mechanical hand, the manipulator can be in motorway
The examination of road tests middle replacement human driver and carries out steering operation.
A kind of Vehicle Driver Robot steering mechanical hand, including base, slide plate, sliding block, vertical rod, motor seat frame, steering electricity
Machine, telescopic shaft, rzeppa joint, steering pawl disk, steering handgrip；Wherein base is fixed on automotive interior and sets vertical lines
Rail groove, slide plate is moved along base vertical lines rail groove and slide plate sets horizontal rectilinear orbit groove, and sliding block is laterally straight along slide plate
Trajectory groove is moved, and vertical rod one end is connected with sliding block rotation and the other end is rotated with motor seat frame bottom surface and is connected, steering motor
Motor cabinet inframe is fixed on, telescopic shaft one end is fixedly connected with the output shaft of steering motor and the other end is defeated with rzeppa joint
Enter end connection, rzeppa joint output end is fixedly connected with catching plate is turned to, turn to handgrip setting three and grab with steering respectively
Disk activity is connected, and is turned to handgrip and is set the hook formation for supplying clamping car steering wheel.
Using above-mentioned manipulator, turning to catching plate includes center mini-roundabout, large arm, forearm, nut；Wherein large arm, forearm, spiral shell
Female quantity is identical with the quantity for turning to handgrip；Center mini-roundabout is fixedly connected with rzeppa joint output end, and large arm is in
The circumferentially fixed setting of heart mini-roundabout, forearm is fixed in large arm, is turned to handgrip and is enclosed within forearm and is fixed by nut.
The present invention compared with prior art, with advantages below：(1) compact conformation of the present invention, concise, pacifies meeting
Manufacturing cost is greatlyd save on the premise of reload request；(2) present invention is designed with slide rail on base and slide plate, it is ensured that
Vehicle Driver Robot steering mechanical hand can move back and forth in front and rear and left and right both direction, so that drive machine
People's steering mechanical hand can be adjusted to more convenient and quicker suitable position to carry out the test operation of correlation；(3) present invention is vertical
Angle between bar and sliding block can be adjusted, and can easily adjust Vehicle Driver Robot steering mechanical hand and car steering wheel
Between angle；(4) present invention uses Rzeppa constant velocity joint, can further realize Vehicle Driver Robot and automobile
Arbitrarily angled regulation between steering wheel；(5) the steering handgrip in the present invention can move back and forth, and fixed form is simply fast
It is prompt so that the Vehicle Driver Robot steering mechanical hand in the present invention is adapted to all kinds of steering wheels of different automobile types.
With reference to Figure of description, the invention will be further described.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present invention.
Fig. 2 is front view of the invention.
Fig. 3 is side view of the invention.
Fig. 4 is top view of the invention.
Fig. 5 turns to pawl disk, steering handgrip combination diagram for the present invention.
Fig. 6 is the front view that the present invention turns to pawl disk and handgrip.
Fig. 7 is the side view that the present invention turns to pawl disk and handgrip.
Fig. 8 is the top view of base of the present invention and slide plate part.
Fig. 9 is the upward view of institute's base of the present invention and slide plate part.
Specific embodiment
As shown in figure 1, a kind of Vehicle Driver Robot steering mechanical hand involved in the present invention, including base 1, slide plate 2,
Sliding block 3, vertical rod 4, motor seat frame 5, steering motor 6, baffle plate 7, baffle plate 8, telescopic shaft 9, universal joint 10 turns to pawl disk 11, turns to
The parts such as handgrip 12,13,14.
From Fig. 1 it may be clearly seen that, there is one slide rail at the two ends of base 1 or so, when specific installation, slide plate 2
Can on base 1 slide anteroposterior, to adjust the longitudinal separation between drive robot steering mechanical hand and car steering wheel, wait to slide
When plate 2 moves to suitable position, slide plate 2 is fixed on base 1 with four bolts.It may also be seen that before slide plate 2
Equally there is slide rail afterwards, sliding block 3 can move left and right to adjust car steering machine on the slide rail on slide plate 2 when specific installation
Left and right distance between device people's steering mechanical hand and car steering wheel, it is same with four when sliding block 3 moves to suitable position
Be fixed on sliding block 3 on slide plate 2 by bolt.Column 4 has two effects, one of them be two be connected with respectively sliding block 3 with
Motor seat frame 5, another effect is that can adjust vertical rod 4 and base by unclamping the bolt between vertical rod 4 and sliding block 3
Angle between 1, it is to be adjusted to be fixed to tightening bolt herein again after suitable angle.Baffle plate 7 and baffle plate 8 are fixed on friendship
On stream servo steering motor 6, then motor seat frame 5 is loaded on together with AC servo steering motor 6, can be appreciated that in motor seat frame 5
There are two bolts hole side, and bolt is added respectively, can play spacing effect, and two bolts just block baffle plate 7 and baffle plate 8
Both sides, while steering motor 6 is also caused from moving up and down, so that steering motor 6 is fixed in motor seat frame 5.Stretch
The two ends of contracting axle 9 are again respectively with keyway and the input of spline connection steering motor axle and rzeppa joint 10.Ball cage type is universal
The output end of section 10 is splined with pawl disk 11 is turned to.The three steering handgrips 12,13,14 for turning on pawl disk 11 can be respectively
Move back and forth on pawl disk 11 is turned to, so can be adapted to different size of all kinds of automobiles with drive robot steering mechanical hand turns
To disk, when each steering handgrip 12,13,14 moves to correct position, fixed with bolt respectively, sent further according to control system
Instruction control steering motor 6 rotating speed and turning moment, you can carry out corresponding steering operation with to vehicle.
As shown in Fig. 2 be the front view of the Vehicle Driver Robot steering mechanical hand, it may be clearly seen that the vapour from figure
Fixed three identicals turn to handgrip 12,13,14 on the steering pawl disk 11 of car drive robot steering mechanical hand, and these three turn
Can move back to employ on pawl disk 11 is turned to handgrip 12,13,14 and match in different types of car steering wheel, it is mobile
During to suitable position, three steering handgrips 12,13,14 are being fixed on car steering wheel with three nuts respectively.Turn to
Angle between handgrip is 120 °.
As shown in figure 3, being the side view of the Vehicle Driver Robot steering mechanical hand, vertical rod 4 is connected to sliding block 3 and motor
Seat frame 5, steering motor 6 is fixed in motor seat frame 5, and telescopic shaft 9 is connected with rzeppa joint 10 and steering motor 6 respectively
Connect, the axle is extending and shortens, to further the distance between regulation drive robot steering mechanical hand and car steering wheel.
Rzeppa joint 10 then can arbitrarily adjust the angle between drive robot steering mechanical hand and car steering wheel, enter one
Step improves the installation accuracy between Vehicle Driver Robot and car steering wheel.
As shown in figure 4, being the top view of the Vehicle Driver Robot steering mechanical hand, it can be seen that slide plate 2 with base 1 it
Between be connected with, slide plate 2 can move back and forth on base 1, and two pieces of baffle plates 7,8 are just spacing by two in motor seat frame 5
Bolt blocks rear and front end, and the caging bolt through motor seat frame 5 can limit moving up and down for motor again, so that turning
It is fixedly secured in motor seat frame 5 to motor 6.
As shown in figure 5, for the Vehicle Driver Robot steering mechanical hand turns to pawl disk 11 and turns to handgrip 12,13,14
Structure chart, can visually see and turn to the center mini-roundabout 11-1 Joints of rotating disk is three mutually isostructural large arm
11-2, is three structure identical forearm 11-3 with large arm Joint, and there is screw thread the end of three forearms, for nut
11-4 raises turn over to the distance between handgrip and steering wheel in forearm 11-3.
As shown in Figures 6 and 7, for the Vehicle Driver Robot steering mechanical hand turns to pawl disk 11 and turn to handgrip 12,13,
14 front view and side view, can more be intuitive to see the structure for turning to pawl disk 11 and the knot for turning to handgrip 12,13,14
Structure, both assembly relations are also very clear.Three identical handgrips 12,13,14 that turn to can be moved back on pawl disk 11 is turned to
It is dynamic, so that the Vehicle Driver Robot steering mechanical hand is adapted to the various steering wheels of different classes of vehicle, improve vapour
Installation accuracy between car drive robot steering mechanical hand and car steering wheel, it is ensured that the accuracy further tested.
As shown in FIG. 8 and 9, at hand the top view of seat 1 and slide plate 2 and looked up for the Vehicle Driver Robot steering mechanical
Figure, it may be clearly seen that the twice slide rail on base 1 and slide plate 2, the slide rail on base 1 is used to adjust car steering machine
The longitudinal separation of people's steering mechanical hand and car steering wheel, the slide rail on slide plate 2 is used to adjust Vehicle Driver Robot steering machine
The left and right distance of tool hand and car steering wheel, both are combined, and can further improve Vehicle Driver Robot steering mechanical hand
Positional precision between car steering wheel, so as to improve the precision of later stage experiment.
Claims (4)
1. a kind of Vehicle Driver Robot steering mechanical hand, it is characterised in that including base (1), slide plate (2), sliding block (3), vertical
Bar (4), motor seat frame (5), steering motor (6), telescopic shaft (9), rzeppa joint (10), steering pawl disk (11), steering are grabbed
Hand；Wherein
Base (1) is fixed on automotive interior and sets vertical lines rail groove,
Slide plate (2) is moved along base vertical lines rail groove and slide plate (2) sets horizontal rectilinear orbit groove,
Sliding block (3) is moved along slide plate transverse direction rectilinear orbit groove,
Vertical rod (4) one end is connected with sliding block (3) rotation and the other end is rotated with motor seat frame (5) bottom surface and is connected,
Steering motor (6) is fixed in motor seat frame (5),
Telescopic shaft (9) one end is fixedly connected with the output shaft of steering motor (6) and the other end is input into rzeppa joint (10)
End connection,
Rzeppa joint (10) output end is fixedly connected with catching plate (11) is turned to,
Turn to handgrip set three and respectively with turn to catching plate (11) be flexibly connected,
Turn to handgrip and the hook formation for supplying clamping car steering wheel is set.
2. Vehicle Driver Robot steering mechanical hand according to claim 1, it is characterised in that turning to catching plate (11) includes
Center mini-roundabout (11-1), large arm (11-2), forearm (11-3), nut (11-4)；Wherein large arm (11-2), forearm (11-3),
The quantity of nut (11-4) is identical with the quantity for turning to handgrip；
Center mini-roundabout (11-1) is fixedly connected with rzeppa joint (10) output end,
Large arm (11-2) along center mini-roundabout (11-1) circumferentially fixed setting,
Forearm (11-3) is fixed in large arm (11-2),
Handgrip is turned to be enclosed within forearm (11-3) and fixed by nut (11-4).
3. Vehicle Driver Robot steering mechanical hand according to claim 1, it is characterised in that solid in steering motor (6)
Determine front apron (8) and backboard (7), and front apron (8) and backboard (7) are individually fixed in motor seat frame (5).
4. Vehicle Driver Robot steering mechanical hand according to claim 1, it is characterised in that turn to the folder between handgrip
Angle is 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164083.1A CN106840705A (en) | 2017-03-20 | 2017-03-20 | A kind of Vehicle Driver Robot steering mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164083.1A CN106840705A (en) | 2017-03-20 | 2017-03-20 | A kind of Vehicle Driver Robot steering mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106840705A true CN106840705A (en) | 2017-06-13 |
Family
ID=59129293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710164083.1A Pending CN106840705A (en) | 2017-03-20 | 2017-03-20 | A kind of Vehicle Driver Robot steering mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106840705A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828094A (en) * | 2017-01-17 | 2017-06-13 | 中国科学院重庆绿色智能技术研究院 | A kind of unmanned vehicle autonomous driving device |
| CN107421755A (en) * | 2017-08-11 | 2017-12-01 | 中汽研（天津）汽车工程研究院有限公司 | A kind of automobile composite measurement platform |
| CN107962575A (en) * | 2017-12-11 | 2018-04-27 | 南京理工大学 | A kind of quick-installed Vehicle Driver Robot steering mechanical hand |
| CN108032305A (en) * | 2017-11-30 | 2018-05-15 | 南京理工大学 | A kind of unmanned machine people for automobile |
| CN108344588A (en) * | 2018-05-11 | 2018-07-31 | 安徽江淮汽车集团股份有限公司 | A kind of steering test device of vehicle |
| CN109094678A (en) * | 2018-08-22 | 2018-12-28 | 南京理工大学 | A kind of universal unmanned machine people |
| CN109141928A (en) * | 2018-10-16 | 2019-01-04 | 吉林大学 | A kind of steering wheel operating device for motor road test |
| CN109187051A (en) * | 2018-10-16 | 2019-01-11 | 吉林大学 | A kind of pilot instrument for motor road test |
| CN109291983A (en) * | 2018-10-17 | 2019-02-01 | 上海应用技术大学 | A kind of Vehicular automatic driving auxiliary system and vehicle |
| CN114684252A (en) * | 2020-12-31 | 2022-07-01 | 沈阳新松机器人自动化股份有限公司 | Steering actuating mechanism of automatic driving robot |
| US11820356B2 (en) | 2019-12-20 | 2023-11-21 | Humanetics Austria Gmbh | System and method for force compensation in a robotic driving system |
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| CN105547710A (en) * | 2015-12-03 | 2016-05-04 | 北京航空航天大学 | Steering control mechanism for automatic driving of vehicle |
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Patent Citations (5)
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| US5865266A (en) * | 1996-05-02 | 1999-02-02 | Chrysler Corporation | Steering wheel linkage for robotic system for automated durability road (ADR) facility |
| CN102735451A (en) * | 2011-04-13 | 2012-10-17 | 苏州博泰测控技术有限公司 | Steering robot for automobile test |
| CN102637058A (en) * | 2011-08-25 | 2012-08-15 | 上海交通大学 | Automatic drive robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828094A (en) * | 2017-01-17 | 2017-06-13 | 中国科学院重庆绿色智能技术研究院 | A kind of unmanned vehicle autonomous driving device |
| CN107421755A (en) * | 2017-08-11 | 2017-12-01 | 中汽研（天津）汽车工程研究院有限公司 | A kind of automobile composite measurement platform |
| CN108032305A (en) * | 2017-11-30 | 2018-05-15 | 南京理工大学 | A kind of unmanned machine people for automobile |
| CN108032305B (en) * | 2017-11-30 | 2023-12-26 | 南京理工大学 | Unmanned robot for automobile |
| CN107962575A (en) * | 2017-12-11 | 2018-04-27 | 南京理工大学 | A kind of quick-installed Vehicle Driver Robot steering mechanical hand |
| CN108344588A (en) * | 2018-05-11 | 2018-07-31 | 安徽江淮汽车集团股份有限公司 | A kind of steering test device of vehicle |
| CN109094678B (en) * | 2018-08-22 | 2020-10-30 | 南京理工大学 | Universal unmanned robot |
| CN109094678A (en) * | 2018-08-22 | 2018-12-28 | 南京理工大学 | A kind of universal unmanned machine people |
| CN109187051A (en) * | 2018-10-16 | 2019-01-11 | 吉林大学 | A kind of pilot instrument for motor road test |
| CN109141928A (en) * | 2018-10-16 | 2019-01-04 | 吉林大学 | A kind of steering wheel operating device for motor road test |
| CN109141928B (en) * | 2018-10-16 | 2024-04-19 | 吉林大学 | Steering wheel operating device for automobile road test |
| CN109291983A (en) * | 2018-10-17 | 2019-02-01 | 上海应用技术大学 | A kind of Vehicular automatic driving auxiliary system and vehicle |
| CN109291983B (en) * | 2018-10-17 | 2021-03-23 | 上海应用技术大学 | Vehicle automatic driving auxiliary system and vehicle |
| US11820356B2 (en) | 2019-12-20 | 2023-11-21 | Humanetics Austria Gmbh | System and method for force compensation in a robotic driving system |
| CN114684252A (en) * | 2020-12-31 | 2022-07-01 | 沈阳新松机器人自动化股份有限公司 | Steering actuating mechanism of automatic driving robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
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| RJ01 | Rejection of invention patent application after publication |