CN1621990A - Gas electric hybrid type driving robot for automobile test - Google Patents
Gas electric hybrid type driving robot for automobile test Download PDFInfo
- Publication number
- CN1621990A CN1621990A CN 200410065844 CN200410065844A CN1621990A CN 1621990 A CN1621990 A CN 1621990A CN 200410065844 CN200410065844 CN 200410065844 CN 200410065844 A CN200410065844 A CN 200410065844A CN 1621990 A CN1621990 A CN 1621990A
- Authority
- CN
- China
- Prior art keywords
- pedipulator
- gear
- braking
- clutch
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The mixed pneumatic and electric driving robot is used in replacing test person in automobile experiment. It has shifting manipulator control box set on the driver's seat in the test automobile, mechanical throttle leg connected to the throttle pedal, mechanical braking leg connected to the brake pedal, mechanical clutch leg connected to the clutch pedal, shifting manipulator connected to the automobile shifting lever, steering wheel fixer used in locking the steering wheel, and angle sensors on the mechanical legs and manipulator to obtain their positions. The driving robot has high automobile speed tracing precision, high repeatability, reliable contrast test datan and other advantages, and may be used in replacing person to complete various automobile experiments.
Description
Technical field
The present invention relates to a kind of can being implemented in and replace human testing crew to carry out the gas electric hybrid type driving robot device of automobile test on the chassis dynamometer, belong to automobile test servomechanism technical field.
Background technology
The automobile test drive robot is in the automobile test on chassis dynamometer, replaces testing crew to carry out the device of automobile test.The performance need of automobile improves design by means of a large amount of tests, automobile performance test, fail-test and the environmental test of on chassis interior dynamometer machine (or being called drum dynamometer), carrying out, the waste gas that automobile is discharged, the noise that equipment sends, the variation of environment temperature and long driving dry as dust, the driver all there is certain injury, is more suitable for operating by robot.In addition, the quick growth of automobile pollution makes that the pollution of tail gas of motor vehicle emission is serious day by day, and in order to protect atmospheric environment, the legislations of environmental protection of increasingly stringent has all been formulated in countries in the world, the content of nuisance in the strict restricting vehicle tail gas.Thereby study the method that the fuel economy that improves automobile reduces the motor vehicle exhaust emission amount, must carry out a large amount of automobile tests.Test specification requires the circulation of the predefined speed of a motor vehicle of tested vehicle tracking, and guarantees in the accuracy rating of ± 2km/h.The variation of testing crew driving behavior in process of the test often causes emission result inconsistent, thereby has reduced the validity of emissions data.Therefore, need substitute human driver carries out automobile test under unsafe conditions and rugged surroundings driver behavior with the robot pilot, utilize drive robot to test for alleviating human labour intensity, reduce the injury of experimental enviroment to the laboratory technician, improve test efficiency, strengthen the objectivity and the accuracy of test findings, save testing expenses, and then add speed automobile research and development progress important meaning is all arranged.
For this reason, the many companies in the external world have researched and developed the car steering robot that is used to test in succession and have carried out the driving of automobile to replace testing crew, mainly contain German ST HLE, popular, U.S. Froude Consine, Britain Mira, Japan Horiba, Autopilot, companies such as Nissan Motor, these robots structurally have very big similar, mainly all by the throttle pedipulator, the braking pedipulator, the clutch mechanism leg is (for the laboratory vehicle that is equipped with automatic gear-box, the clutch mechanism leg can save) and the changing gear manipulator composition, type of drive mainly contains hydraulic pressure, pneumatic and electronic three kinds.The shortcoming of hydraulic driving mode is the sealing requirements height to oil, mechanism's complexity; Though pneumatic actuation mode source of the gas obtains easily, mechanism is simple, because throttle pedipulator positioning accuracy request is very high, if all adopt the air pressure type of drive, and topworks and detection control system complexity;
Electronic mode generally adopts direct current or AC servo machinery driving, need to increase gear trains such as speed reduction unit and turbine and worm, and the cost height will be realized the quick separation and the speed engagement movement of clutch coupling in addition, and the design of topworks is very complicated.The present domestic automatic drive robot device that still is not used in automobile test, external technology are then externally open as company's secret.
Summary of the invention
Technical matters: the purpose of this invention is to provide a kind of can being implemented in and replace human testing crew to carry out the gas electric hybrid type driving robot device of automobile test on the chassis dynamometer, it can be on the basis of test vehicle not being transformed, be installed in the pilothouse of instruction carriage, be applicable to dissimilar, different gears distribute, the vehicle of different pedal travels, and can coordinate control throttle pedipulator according to the state of cyclic operation that travels, the braking pedipulator, clutch mechanism leg and changing gear manipulator, realize the starting of automobile, gear shift, quicken, speed stabilizing, operating modes such as deceleration and idling, thus follow the tracks of the speed of a motor vehicle of setting.
Technical scheme: the technical solution adopted for the present invention to solve the technical problems is:
This drive robot is by throttle pedipulator, braking pedipulator, clutch mechanism leg, changing gear manipulator, bearing circle stationary installation, drive robot control computer, gearshift mechanical arm control box, and pedipulator control box, data acquisition and processing module and motion control drive part are formed; The pedipulator control box has three, and the pedipulator control box on the left side links to each other with the clutch mechanism leg, and middle pedipulator control box links to each other with the braking pedipulator, and the pedipulator control box on the right links to each other with the throttle pedipulator; Gearshift mechanical arm control box links to each other with changing gear manipulator; One termination vehicle steering of bearing circle stationary installation, the other end is fixed on the base handle, and the drive robot control computer is finished the speed Tracking of circulation driving cycle according to instructions coordinate control throttle, braking, clutch and the gear shift set.The gearshift mechanical arm control box of drive robot is placed on the interior pilot set of test car pilothouse, the throttle pedipulator is connected with gas pedal, the braking pedipulator is connected with brake pedal, and the clutch mechanism leg is connected with clutch pedal, and changing gear manipulator is connected with the car gear shifting shift lever.The bearing circle stationary installation is used for pinning in process of the test the rotation of vehicle steering.The chassis dynamometer testing table provides simulated environment for automobile in shop experiment, guarantees that in test run process chassis dynamometer is consistent to the resistance loading characteristic of test vehicle and the vehicle stressing conditions when the travels down.On throttle, braking, clutch mechanism leg and changing gear manipulator, angular transducer is installed, obtains the position of each pedipulator/hand.
The gas pedal clamping plate of throttle pedipulator front portion directly are socketed on the gas pedal of test vehicle, and the signal of step motor control unit output control step motor is by gear reduction and transmit moment of torsion, drives throttle pedipulator two power bar Control of Automobile throttles; Throttle pedipulator position transducer is connected with stepper motor by the mode of gearing mesh in the throttle pedipulator, obtains the position signalling of throttle pedipulator.
The braking pedipulator utilizes the brake pedal clamping plate to be connected with brake pedal, and braking pedipulator cylinder is hinged with braking leg push rod, drives the motion of braking pedipulator two power bars, by the motion strength of detent pneumatic control unit controls braking pedipulator cylinder; The braking leg pull bar that braking pedipulator position transducer passes through and braking leg push rod is hinged in the braking pedipulator drives, and obtains the position of braking pedipulator.
The clutch mechanism leg utilizes the clutch pedal clamping plate to be connected with clutch pedal, and clutch mechanism leg cylinder and clutch push rod are hinged, drives the motion of clutch mechanism leg two power bars, by the movement velocity of clutch coupling pneumatic control unit controls clutch mechanism leg cylinder; Clutch mechanism leg position transducer obtains the position of clutch mechanism leg by driving with the hinged coupling lever of clutch push rod in the clutch mechanism leg.
Changing gear manipulator is made up of engage a gear cylinder, gear selecting cylinder, gear selecting position transducer, engage a gear position transducer, gear shifting handle cover, seven-link assembly changing gear manipulator; Engage a gear cylinder, gear selecting cylinder and seven-link assembly changing gear manipulator are hinged, gear shifting handle cover and the socket of instruction carriage shift lever; Changing gear manipulator all is connected to gear selecting position transducer and engage a gear position transducer by gearing mesh at two stiff ends of seven-link assembly changing gear manipulator, is used to obtain the movement position of gear selecting cylinder and engage a gear cylinder.
The throttle pedipulator adopts stepper motor driven mode, realizes the hi-Fix control of throttle; The braking pedipulator adopts the adjustable gas circuit control of damping force, by regulating the damping force size to realize the control to braking deceleration; The clutch mechanism leg adopts cylinder with lock, and adopts the adjustable gas circuit of movement velocity that reclaims, and realizes that the clutch mechanism leg reclaims the adjusting of speed, satisfies the speed requirement of the clutch operating in starting and the shift process; Changing gear manipulator adopts seven-link assembly double freedom closed chain changing gear manipulator, do not needing under the prerequisite that car gear shifting mechanism is transformed, realization gear selecting and extension are plucked the mechanically decoupled of grade both direction motion, are applicable to the manual-shift gearbox that different gear shift strokes, different gear distribute; In addition, in order to prevent the sideslip of driving wheel in the process of the test, the bearing circle stationary installation is pinned the rotation of vehicle steering.
Beneficial effect:
1. the gearshift mechanical arm control box of drive robot is installed on the operating seat of pilothouse, does not need test vehicle is transformed, and realizes the harmless installation of drive robot.
2. the throttle pedipulator adopts the mode of step motor drive control, can satisfy the hi-Fix requirement of throttle, convenient control of motion.
3. detent pedipulator, clutch mechanism leg and the gearshift mechanical arm mode that adopts air pressure to drive, make drive robot action fast and have the rapidity and a compliance of human driver's muscle.
4. the bearing circle stationary installation is pinned the rotation of test car bearing circle, prevents the sideslip of driving wheel in the process of the test, especially for the test vehicle of front-wheel drive.
5. the changing gear manipulator length of connecting rod is through optimized design, and guarantee in the gear shift moving region gear selecting and hang and pluck grade linearity of motion process track, and gear selecting, hang and pluck a grade both direction motion mutually noninterfere, motion linearity height, mechanically decoupled, control is convenient.
6. distribute for the wheel box of different model and different wheel box gears, obtain gear selecting and hang the position of plucking shelves by the mode of direct teaching, changing gear manipulator is applied widely, and switching speed and gear shift strength are directly adjustable, are applicable to various wheel boxes.
7. drive robot obtains the stroke of different tests vehicle accelerator, braking and clutch pedal by the sensor that the self study utilization is installed on each pedipulator, thereby adapts to the vehicle of different structure size.
8. the damping force of braking pedipulator is adjustable, thereby can regulate damping force according to the acceleration of setting that subtracts, and can adapt to the different braking characteristic of different tests vehicle.
9. on the clutch mechanism leg position transducer is installed, can obtains the position, bonding land of test vehicle clutch coupling, guarantee the stationarity of automobile start and shift process.In addition, clutch coupling reclaims the speed dynamic adjustable, thereby can realize " fast-slow-fast " driver behavior that clutch coupling reclaims in the shift process, reduces the impact of shift process.
Description of drawings
Fig. 1 is that the present invention is installed in the indoor side view of car steering.
Fig. 2 is that the present invention is installed in the indoor vertical view of car steering.
Fig. 3 is that COMPUTER DETECTION control system of the present invention constitutes block diagram.
Fig. 4 is a changing gear manipulator mechanical construction drawing of the present invention.
Fig. 5 is a throttle pedipulator mechanical construction drawing.
Fig. 6 is a braking pedipulator mechanical construction drawing.
Fig. 7 is a clutch mechanism leg mechanical construction drawing.
Wherein have: pilot set 1, vehicle steering 2, bearing circle stationary installation 3, base handle 4, gearshift mechanical arm control box 5, clutch mechanism leg control box 6, clutch mechanism leg 7, clutch pedal 8, changing gear manipulator 9, braking pedipulator 10, throttle pedipulator 11, brake pedal 12, gas pedal 13, drive robot control computer 14, drive robot signal controlling output module 15, signal condition module 16, measurement of engine rotate speed module 17, automobile speed measurement module 18, control system source of the gas 19, mechanical arm pneumatic control unit 20, step motor control unit 21, detent pneumatic control unit 22, clutch coupling pneumatic control unit 23, engage a gear cylinder 24, gear selecting cylinder 25, gear selecting position transducer 26, engage a gear position transducer 27, gear shifting handle cover 28, seven-link assembly changing gear manipulator 29, gas pedal clamping plate 30, throttle pedipulator two power bars 31, gear 32, throttle pedipulator position transducer 33, stepper motor 34, braking pedipulator cylinder 35, braking pedipulator position transducer 36, braking leg pull bar 37, braking leg push rod 38, braking pedipulator two power bars 39, brake pedal clamping plate 40, clutch mechanism leg cylinder 41, clutch mechanism leg position transducer 42, coupling lever 43, clutch push rod 44, clutch mechanism leg two power bars 45, clutch pedal clamping plate 46.
Embodiment
The car steering robot a kind ofly is used for substituting human testing crew and carries out the gas electric hybrid type servomechanism that automobile test is used on the chassis dynamometer testing table.In order to realize the lab simulation of actual road test, instruction carriage must be placed on and be used to simulate straight road conditions on the chassis dynamometer, thereby for automobile test provides experimental enviroment, and chassis dynamometer is consistent to the resistance loading characteristic of test vehicle and the vehicle stressing conditions when the travels down in the test run process.
At Fig. 1, whole drive robot is by throttle pedipulator 11 in 2, braking pedipulator 10, clutch mechanism leg 7, changing gear manipulator 9 and bearing circle stationary installation 3 are formed, on the pilot set that gearshift mechanical arm control box 5 is placed in the test car pilothouse 1, throttle pedipulator 11 is connected with gas pedal 13, braking pedipulator 10 is connected with brake pedal 12, clutch mechanism leg 7 is connected with clutch pedal 8, changing gear manipulator 9 is connected with the car gear shifting shift lever by gear shifting handle cover 28, one end of bearing circle stationary installation 3 is connected with the base handle 4 of gearshift mechanical arm control box 5, the other end is socketed on the vehicle steering 2, prevents to pin in the process of the test rotation of vehicle steering 2.The control box of pedipulator is installed in the bearing circle below, do not need test vehicle is transformed, thus the harmless installation of realization drive robot.
The mode that changing gear manipulator 9, braking pedipulator 10 clutch mechanism legs 7 adopt air pressure to drive, actuating medium is the pressurized air of the cleaning that provided by source of the gas 19, has fast, the compressible and shock proof characteristic of speed, more identical with people's elasticity of muscle and compliance, guarantee that gearshift procedure is strong fast, the quick separation of high resilience and clutch coupling.The throttle pedipulator adopts the mode of step motor drive control, can satisfy the hi-Fix requirement of throttle, convenient control of motion.
Changing gear manipulator 9 is by engage a gear cylinder 24 among Fig. 4, gear selecting cylinder 25, and gear selecting position transducer 26, engage a gear position transducer 27, gear shifting handle cover 28 and seven-link assembly changing gear manipulator 29 are formed.Engage a gear cylinder 24, gear selecting cylinder 25 and seven-link assembly changing gear manipulator 29 are hinged, gear shifting handle cover 28 and the socket of instruction carriage shift lever.All be connected to gear selecting position transducer 26 and engage a gear position transducer 27 at two stiff ends of seven-link assembly changing gear manipulator 29 in the changing gear manipulator 9, be used to obtain the movement position of gear selecting cylinder 25 and engage a gear cylinder 24 by gearing mesh.Engage a gear cylinder 24 and gear selecting cylinder 25 all adopt the fixing mode of an end, and the other end can rotatablely move freely.Length of connecting rod guarantees that through optimized design gear selecting is plucked grade linearity of motion process track with hanging in the gear shift moving region.Cylinder adopts cylinder with lock, all under the situation of release, carries out teaching by testing crew at both direction, changes to after certain gear, utilizes gear selecting position transducer 26 and engage a gear position transducer 27 record gear positions.In gearshift procedure, air-driven actuating medium is an air, has fast, the compressible and shock proof characteristic of speed, and is more identical with people's elasticity of muscle and compliance, makes gearshift procedure strong fast, high resilience.By the supply gas pressure of adjusting engage a gear cylinder and the aperture of cylinder exhaust port, can realize the adjusting of gear shift strength and switching speed, thereby make this changing gear manipulator can be applicable to the fluid drive occasion of all size wheel box.By the direct teaching of testing crew, the gear selecting and the shift pattern of seven-link assembly changing gear manipulator study wheel box, the gear shift action of mechanical arm directly realizes that by the elongation and the withdrawal control of engage a gear cylinder 24 and gear selecting cylinder 25 mechanically decoupled, control is convenient.
Among Fig. 5 in the throttle pedipulator 11 gas pedal clamping plate 30 directly be socketed on the gas pedal 13 of test vehicle, the signal output control step motor 34 of step motor control unit 21 slows down by gear 32 and transmits moment of torsion, drives throttle pedipulator two power bars 31 Control of Automobile throttles.Step motor control unit 21 turns over the instruction angle according to the pulse of drive robot signal controlling output module 15 outputs, accurately controls gas pedal 13.Throttle pedipulator position transducer 33 is connected with stepper motor 34 by the mode of gearing mesh in the throttle pedipulator 11, obtains the position of throttle pedipulator 11 in the rotary movement of stepper motor 34.The brachium of throttle pedipulator two power bars 31 can be regulated, thereby adapts to the vehicle of different gas pedal sizes.
Utilize brake pedal clamping plate 40 to be connected with brake pedal 12 in the braking pedipulator 10 among Fig. 6, braking pedipulator cylinder 35 and braking leg push rod 38 are hinged, drive 39 motions of braking pedipulator two power bars.The output pressure of detent pneumatic control unit 22 can change the damping force size of braking pedipulator 10, thereby change the retarded velocity in the Motor Vehicle Braking Procedure by the motion strength of control voltage-regulation control brake pedipulator cylinder 35.Braking pedipulator position transducer 36 passes through and brakes leg push rod 38 hinged braking leg pull bars 37 to drive in the braking pedipulator 10, obtains the position of braking pedipulator 10.The brachium of braking pedipulator two power bars 39 can be regulated, thereby adapts to the vehicle of different braking pedal size.
Utilize clutch pedal clamping plate 46 to be connected with clutch pedal 8 among Fig. 7 in the clutch mechanism leg 7, clutch mechanism leg cylinder 41 and clutch push rod 44 are hinged, drive 45 motions of clutch mechanism leg two power bars.Air valve opening when clutch coupling pneumatic control unit 23 scalable cylinders reclaim, thereby the movement velocity of solenoidoperated cluthes pedipulator cylinder 41 realizes the clutch mechanism leg and reclaims the adjusting of speed, satisfy the speed requirement of the clutch operating in starting and the shift process, reduce the impact of shift process.Clutch mechanism leg position transducer 42 obtains the position of clutch mechanism leg 7 by driving with clutch push rod 44 hinged coupling levers 43 in the clutch mechanism leg 7.The brachium of clutch mechanism leg two power bars 45 can be regulated, thereby adapts to the vehicle of different clutch pedal sizes.
Measurement of engine rotate speed module 17 is transformed into aanalogvoltage with the engine speed of test vehicle, import control computer 14 into by signal condition module 16, automobile speed measurement module 18 obtains the speed of instruction carriage and imports drive robot control computer 14 into from the photoelectric sensor of the preceding rotary drum that is installed in chassis dynamometer.
After drive robot installs and fixes on instruction carriage, drive robot control computer 14 at first utilizes the sensor that is installed on each pedipulator to obtain the stroke of different tests vehicle accelerator, braking and clutch pedal, for benchmark is set up in motion control, thus the test vehicle of adaptation different structure size.Then by signal controlling output module 15 control throttle pedipulator 11 respectively, braking pedipulator 10, clutch mechanism leg 7 press down and reclaim, and carry out gear shift according to the requirement of operating condition of test.In the test state of cyclic operation of automobile, stipulate operating condition of test such as test vehicle starting, parking, acceleration, deceleration, gear shift, idling, and defined the speed of a motor vehicle on a series of time points, require the tracking accuracy ± 2km/h of the speed of a motor vehicle.Drive robot control computer 14 is coordinated control throttle, braking, clutch and gear shift according to the current vehicle speed and the operating mode of instruction carriage, raising speed, deceleration and the speed stabilizing stage of speed tracking according to the recovery of the deviation control throttle of setting the speed of a motor vehicle and current vehicle speed and detent with press down, the control accuracy that guarantees the speed of a motor vehicle improves the accuracy of test and the validity of test figure in claimed range.
Because in process of the test; when driving wheel brake system braking force distribution is uneven in the excessive or test car braking procedure at the automobile starting acceleration; the situation that the instruction carriage sideslip can occur; bearing circle stationary installation (3) can be pinned vehicle steering (2) in process of the test, the carrying out smoothly and protect tested automobile injury-free of warranty test.
Drive robot adopts modular design method, and wherein clutch mechanism leg (7) can be installed or removal, thereby adapts to fluid drive (AT) car and the different control requirements of hand shift car (MT) to clutch coupling, improves the vehicle adaptive faculty of drive robot.
Claims (5)
1. gas electric hybrid type driving robot for automobile test, it is characterized in that this drive robot by throttle pedipulator (11), braking pedipulator (10), clutch mechanism leg (7), changing gear manipulator (9), bearing circle stationary installation (3), drive robot control computer (14), gearshift mechanical arm control box (5), pedipulator control box (6), data acquisition and processing module and motion control drive part are formed; Pedipulator control box (6) has three, and the pedipulator control box on the left side links to each other with clutch mechanism leg (7), and middle pedipulator control box links to each other with braking pedipulator (10), and the pedipulator control box on the right links to each other with throttle pedipulator (11); Gearshift mechanical arm control box (5) links to each other with changing gear manipulator (9); One termination vehicle steering (2) of bearing circle stationary installation (3), the other end is fixed on the base handle (4), drive robot control computer (14) is finished the speed Tracking of circulation driving cycle according to instructions coordinate control throttle, braking, clutch and the gear shift set.
2. gas electric hybrid type driving robot for automobile test according to claim 1, it is characterized in that the anterior gas pedal clamping plate (30) of throttle pedipulator (11) directly are socketed on the gas pedal (13) of test vehicle, the signal output control step motor (34) of step motor control unit (21) slows down by gear (32) and transmits moment of torsion, drives throttle pedipulator two power bar (31) Control of Automobile throttles; Throttle pedipulator position transducer (33) is connected with stepper motor (34) by the mode of gearing mesh in the throttle pedipulator (11), obtains the position signalling of throttle pedipulator (11).
3. gas electric hybrid type driving robot for automobile test according to claim 1, it is characterized in that braking pedipulator (10) utilizes brake pedal clamping plate (40) to be connected with brake pedal (12), braking pedipulator cylinder (35) is hinged with braking leg push rod (38), drive the motion of braking pedipulator two power bars (39), by the motion strength of detent pneumatic control unit (22) control brake pedipulator cylinder (35); The braking leg pull bar (37) that braking pedipulator position transducer (36) passes through and braking leg push rod (38) is hinged in the braking pedipulator (10) drives, and obtains the position of braking pedipulator (10).
4. gas electric hybrid type driving robot for automobile test according to claim 1, it is characterized in that clutch mechanism leg (7) utilizes clutch pedal clamping plate (46) to be connected with clutch pedal (8), clutch mechanism leg cylinder (41) is hinged with clutch push rod (44), drive the motion of clutch mechanism leg two power bars (45), by the movement velocity of clutch coupling pneumatic control unit (23) solenoidoperated cluthes pedipulator cylinder (41); The coupling lever (43) that clutch mechanism leg position transducer (42) passes through and clutch push rod (44) is hinged in the clutch mechanism leg (7) drives, and obtains the position of clutch mechanism leg (7).
5. gas electric hybrid type driving robot for automobile test according to claim 1 is characterized in that changing gear manipulator (9) is made up of engage a gear cylinder (24), gear selecting cylinder (25), gear selecting position transducer (26), engage a gear position transducer (27), gear shifting handle cover (28), seven-link assembly changing gear manipulator (29); Engage a gear cylinder (24), gear selecting cylinder (25) and seven-link assembly changing gear manipulator (29) are hinged, gear shifting handle cover (28) and the socket of instruction carriage shift lever; Changing gear manipulator (9) all is connected to gear selecting position transducer (26) and engage a gear position transducer (27) by gearing mesh at two stiff ends of seven-link assembly changing gear manipulator (29), is used to obtain the movement position of gear selecting cylinder (25) and engage a gear cylinder (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410065844 CN1621990A (en) | 2004-12-22 | 2004-12-22 | Gas electric hybrid type driving robot for automobile test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410065844 CN1621990A (en) | 2004-12-22 | 2004-12-22 | Gas electric hybrid type driving robot for automobile test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1621990A true CN1621990A (en) | 2005-06-01 |
Family
ID=34764814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410065844 Pending CN1621990A (en) | 2004-12-22 | 2004-12-22 | Gas electric hybrid type driving robot for automobile test |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1621990A (en) |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100523770C (en) * | 2006-01-12 | 2009-08-05 | 中国兵器装备集团摩托车检测技术研究所 | Automatic simulating unmanned motorcycle driving system |
| CN101650263B (en) * | 2008-08-13 | 2011-01-19 | 上海电气自动化设计研究所有限公司 | System and method for controlling movement of bus industrial robot |
| CN101650264B (en) * | 2008-08-13 | 2011-01-19 | 上海电气自动化设计研究所有限公司 | Simulation testing system for testing fatigue of automobile parts and control method thereof |
| CN102346473A (en) * | 2011-09-05 | 2012-02-08 | 北京航空航天大学 | Remote vehicle driving control device |
| CN102384851A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Pulley steel wire type mechanical leg execution mechanism for automobile test driving |
| CN102384850A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN102393308A (en) * | 2011-09-07 | 2012-03-28 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN102435442A (en) * | 2011-09-05 | 2012-05-02 | 北京航空航天大学 | Automatic drive robot used in vehicle road tests |
| CN102445351A (en) * | 2011-09-07 | 2012-05-09 | 中国汽车技术研究中心 | Pulley wire-type driver robot for vehicle tests |
| CN102539143A (en) * | 2011-12-13 | 2012-07-04 | 苏州工业园区高登威科技有限公司 | Operating lever fixing frame of detecting device for automobile gear shifting device |
| CN102637058A (en) * | 2011-08-25 | 2012-08-15 | 上海交通大学 | Automatic drive robot |
| CN102788702A (en) * | 2011-05-20 | 2012-11-21 | 上海汽车集团股份有限公司 | Road simulation test bed |
| CN102963321A (en) * | 2012-12-05 | 2013-03-13 | 北京宝克测试***有限公司 | Driving assisting method and device for vehicle |
| CN103389214A (en) * | 2013-07-24 | 2013-11-13 | 厦门理工学院 | Automobile crash test method adopting driverless technology |
| CN103631144A (en) * | 2013-08-19 | 2014-03-12 | 南京理工大学 | Electromagnetically-driven vehicle driving robot |
| CN103782068A (en) * | 2011-11-28 | 2014-05-07 | 宝马股份公司 | Operating apparatus for transmission of motor vehicle |
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN105068595A (en) * | 2015-09-07 | 2015-11-18 | 南京农业大学 | Force/position hybrid control-based tractor driving robot |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN106441926A (en) * | 2016-08-29 | 2017-02-22 | 汽解放柳州特种汽车有限公司 | Self-discharging vehicle whole vehicle lifting reliability testing device and self-discharging vehicle whole vehicle lifting reliability testing method |
| CN106482966A (en) * | 2016-12-05 | 2017-03-08 | 天津威衡自动化科技有限公司 | Electric bicycle car load detecting system |
| 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 |
| TWI588462B (en) * | 2015-11-13 | 2017-06-21 | 財團法人工業技術研究院 | Automatic driving system for manual transmission scooter |
| CN106932205A (en) * | 2017-01-20 | 2017-07-07 | 南京理工大学 | It is a kind of that pedipulator is driven based on the Vehicle Driver Robot that linear electric motors drive |
| CN107036828A (en) * | 2017-05-10 | 2017-08-11 | 燕山大学 | A kind of vehicle type electric gearshift testing stand |
| CN109521674A (en) * | 2018-11-26 | 2019-03-26 | 东南大学 | A kind of electric vehicle drive robot controller parameter self-learning method |
| CN109682607A (en) * | 2018-12-05 | 2019-04-26 | 西华大学 | One kind is with motor vehicle environmental protection periodic inspection driving assistance system and control method |
| CN110082132A (en) * | 2019-06-05 | 2019-08-02 | 吉林大学 | A kind of pedipulator for autonomous driving vehicle pedal control |
| CN111947935A (en) * | 2019-05-14 | 2020-11-17 | 株式会社堀场制作所 | Automatic driving device, vehicle testing system and identification method |
| CN112729822A (en) * | 2021-01-27 | 2021-04-30 | 东风汽车股份有限公司 | Automobile transmission system testing device |
| CN113237669A (en) * | 2021-04-08 | 2021-08-10 | 联合汽车电子有限公司 | Automatic driving control system for vehicle hub test |
| CN113608463A (en) * | 2021-07-16 | 2021-11-05 | 一汽奔腾轿车有限公司 | Vehicle speed control device and method for whole vehicle test |
| CN115452419A (en) * | 2022-11-10 | 2022-12-09 | 磐吉奥科技股份有限公司 | Automobile pedal performance testing device, system and method |
-
2004
- 2004-12-22 CN CN 200410065844 patent/CN1621990A/en active Pending
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100523770C (en) * | 2006-01-12 | 2009-08-05 | 中国兵器装备集团摩托车检测技术研究所 | Automatic simulating unmanned motorcycle driving system |
| CN101650263B (en) * | 2008-08-13 | 2011-01-19 | 上海电气自动化设计研究所有限公司 | System and method for controlling movement of bus industrial robot |
| CN101650264B (en) * | 2008-08-13 | 2011-01-19 | 上海电气自动化设计研究所有限公司 | Simulation testing system for testing fatigue of automobile parts and control method thereof |
| CN102788702A (en) * | 2011-05-20 | 2012-11-21 | 上海汽车集团股份有限公司 | Road simulation test bed |
| CN102637058A (en) * | 2011-08-25 | 2012-08-15 | 上海交通大学 | Automatic drive robot |
| CN102637058B (en) * | 2011-08-25 | 2014-04-16 | 上海交通大学 | Automatic drive robot |
| CN102346473A (en) * | 2011-09-05 | 2012-02-08 | 北京航空航天大学 | Remote vehicle driving control device |
| CN102435442B (en) * | 2011-09-05 | 2013-11-13 | 北京航空航天大学 | Automatic drive robot used in vehicle road tests |
| CN102435442A (en) * | 2011-09-05 | 2012-05-02 | 北京航空航天大学 | Automatic drive robot used in vehicle road tests |
| CN102346473B (en) * | 2011-09-05 | 2012-12-19 | 北京航空航天大学 | Remote vehicle driving control device |
| CN102384850A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN102445351A (en) * | 2011-09-07 | 2012-05-09 | 中国汽车技术研究中心 | Pulley wire-type driver robot for vehicle tests |
| CN102393308A (en) * | 2011-09-07 | 2012-03-28 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN102384850B (en) * | 2011-09-07 | 2013-12-25 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN102393308B (en) * | 2011-09-07 | 2013-12-25 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN102384851A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Pulley steel wire type mechanical leg execution mechanism for automobile test driving |
| CN103782068B (en) * | 2011-11-28 | 2016-08-17 | 宝马股份公司 | Operation device for vehicle transmission |
| CN103782068A (en) * | 2011-11-28 | 2014-05-07 | 宝马股份公司 | Operating apparatus for transmission of motor vehicle |
| CN102539143A (en) * | 2011-12-13 | 2012-07-04 | 苏州工业园区高登威科技有限公司 | Operating lever fixing frame of detecting device for automobile gear shifting device |
| CN102963321A (en) * | 2012-12-05 | 2013-03-13 | 北京宝克测试***有限公司 | Driving assisting method and device for vehicle |
| CN102963321B (en) * | 2012-12-05 | 2015-02-25 | 北京宝克测试***有限公司 | Driving assisting method and device for vehicle |
| CN103389214B (en) * | 2013-07-24 | 2016-01-20 | 厦门理工学院 | Utilize the automobile crash test method of unmanned technology |
| CN103389214A (en) * | 2013-07-24 | 2013-11-13 | 厦门理工学院 | Automobile crash test method adopting driverless technology |
| CN103631144B (en) * | 2013-08-19 | 2016-04-20 | 南京理工大学 | Electromagnetic Drive Vehicle Driver Robot |
| CN103631144A (en) * | 2013-08-19 | 2014-03-12 | 南京理工大学 | Electromagnetically-driven vehicle driving robot |
| CN103913314A (en) * | 2014-04-28 | 2014-07-09 | 清华大学 | Automatic driving robot of automobile |
| CN105068595A (en) * | 2015-09-07 | 2015-11-18 | 南京农业大学 | Force/position hybrid control-based tractor driving robot |
| TWI588462B (en) * | 2015-11-13 | 2017-06-21 | 財團法人工業技術研究院 | Automatic driving system for manual transmission scooter |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN105865805B (en) * | 2016-05-04 | 2018-11-13 | 南京理工大学 | A kind of electromagnetic drive drive robot for automobile test |
| CN106441926B (en) * | 2016-08-29 | 2019-06-11 | 一汽解放柳州特种汽车有限公司 | A kind of dump truck vehicle lifting reliability test and method |
| CN106441926A (en) * | 2016-08-29 | 2017-02-22 | 汽解放柳州特种汽车有限公司 | Self-discharging vehicle whole vehicle lifting reliability testing device and self-discharging vehicle whole vehicle lifting reliability testing method |
| CN106482966A (en) * | 2016-12-05 | 2017-03-08 | 天津威衡自动化科技有限公司 | Electric bicycle car load detecting system |
| 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 |
| CN106932205A (en) * | 2017-01-20 | 2017-07-07 | 南京理工大学 | It is a kind of that pedipulator is driven based on the Vehicle Driver Robot that linear electric motors drive |
| CN107036828A (en) * | 2017-05-10 | 2017-08-11 | 燕山大学 | A kind of vehicle type electric gearshift testing stand |
| CN107036828B (en) * | 2017-05-10 | 2019-08-23 | 燕山大学 | A kind of vehicle type electric shift testing stand |
| CN109521674A (en) * | 2018-11-26 | 2019-03-26 | 东南大学 | A kind of electric vehicle drive robot controller parameter self-learning method |
| CN109682607A (en) * | 2018-12-05 | 2019-04-26 | 西华大学 | One kind is with motor vehicle environmental protection periodic inspection driving assistance system and control method |
| CN111947935A (en) * | 2019-05-14 | 2020-11-17 | 株式会社堀场制作所 | Automatic driving device, vehicle testing system and identification method |
| CN111947935B (en) * | 2019-05-14 | 2024-06-07 | 株式会社堀场制作所 | Automatic driving device, vehicle testing system and identification method |
| CN110082132A (en) * | 2019-06-05 | 2019-08-02 | 吉林大学 | A kind of pedipulator for autonomous driving vehicle pedal control |
| CN110082132B (en) * | 2019-06-05 | 2024-03-29 | 吉林大学 | Mechanical leg for pedal control of automatic driving automobile |
| CN112729822A (en) * | 2021-01-27 | 2021-04-30 | 东风汽车股份有限公司 | Automobile transmission system testing device |
| CN113237669A (en) * | 2021-04-08 | 2021-08-10 | 联合汽车电子有限公司 | Automatic driving control system for vehicle hub test |
| CN113608463A (en) * | 2021-07-16 | 2021-11-05 | 一汽奔腾轿车有限公司 | Vehicle speed control device and method for whole vehicle test |
| CN115452419A (en) * | 2022-11-10 | 2022-12-09 | 磐吉奥科技股份有限公司 | Automobile pedal performance testing device, system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1621990A (en) | Gas electric hybrid type driving robot for automobile test | |
| CN103631144B (en) | Electromagnetic Drive Vehicle Driver Robot | |
| CN106895981B (en) | A kind of automotive transmission test-bed acceleration inertia electric simulation control method | |
| CN108032305B (en) | Unmanned robot for automobile | |
| CN102393308B (en) | Driving robot used for automobile test | |
| Chen et al. | Digital prototyping design of electromagnetic unmanned robot applied to automotive test | |
| ATE66186T1 (en) | METHOD AND DEVICE FOR CONTROLLING AN AUTOMOTIVE POWERTRAIN. | |
| CN105938331A (en) | Semi-physical simulation platform for hybrid vehicle research and development | |
| CN101667015A (en) | Vehicle speed tracking fuzzy control method of vehicle robot driver | |
| CN105865805B (en) | A kind of electromagnetic drive drive robot for automobile test | |
| CN108340921A (en) | System and method for classify driver's level of skill and processing type | |
| CN110455553A (en) | A kind of drive robot that achievable driver intervenes at any time | |
| CN2743097Y (en) | Seven link lever bifreedom closed chain gear shift mechanical hand | |
| CN104181924A (en) | Automated automobile driving device | |
| CN110082132A (en) | A kind of pedipulator for autonomous driving vehicle pedal control | |
| CN105068595B (en) | A kind of tractor driving robot based on power/Position Hybrid Control | |
| CN108340920A (en) | System and method for driver's level of skill of classifying | |
| CN106504609B (en) | A kind of method of entire car controller simulation transmission system process | |
| CN201087829Y (en) | Artificial brake process simulation device for vehicle brake system component detection | |
| CN102384850B (en) | Gear shift manipulator used in automobile test | |
| CN205158199U (en) | Robot is driven to tractor based on power / position hybrid control | |
| CN202255893U (en) | Driving executing mechanism for automobile testing | |
| CN1439555A (en) | Stand for testing reliablity of electric appliances of four cylinder vehicle | |
| CN202267607U (en) | Rocking-arm-type gearshift used for automobile test | |
| Hammond-Scott et al. | Vehicle Systems Modelling and Analysis (VeSyMA) Platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |