CN203908780U - Vehicle brake robot execution mechanism - Google Patents
Vehicle brake robot execution mechanism Download PDFInfo
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- CN203908780U CN203908780U CN201420169559.2U CN201420169559U CN203908780U CN 203908780 U CN203908780 U CN 203908780U CN 201420169559 U CN201420169559 U CN 201420169559U CN 203908780 U CN203908780 U CN 203908780U
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Abstract
The utility model discloses a vehicle brake robot execution mechanism mainly comprising a servo electric cylinder, an upper support rack, a lower support rack, a support rack bottom plate, a pressure sensor, a support beam, a spherical hinge and a robot foot; a tail end of the servo electric cylinder is arranged on the support beam through a bearing, and a front end of the servo electric cylinder is screwed with a tail end of the pressure sensor; a front end of the pressure sensor is connected with the spherical hinge; the spherical hinge is hinged to a robot foot lug; the support beam is fixed on the upper support rack; the upper support is fixedly connected with the lower support rack; the lower support rack is fixedly connected with the support bottom plate; the support rack bottom plate is fixed on a vehicle drive cabin bottom plate; the vehicle brake robot execution mechanism maximumly saves vehicle space, can satisfy a driver to drive the vehicle in the cabin, and can test on vehicle of various modes; the vehicle brake robot execution mechanism is reliable in fixation mode, uses less parts and materials, convenient in assembling and mounting, thus reducing cost.
Description
Technical field
The utility model belongs to new-energy automobile experimental technique field, is specifically related to a kind of automobile brake robot actuating mechanism.
Background technology
For traditional brake system, in the situation that tire traction is enough, the relation that the damping force that automobile is suffered and pedal force are linear, this of brake system performance is called brake pedal feel.Therefore, driver can directly feel automobile brake intensity, and this traffic safety for automobile and driver comfort have a great impact, and good brake pedal feel can allow driver more easily and more accurately go to control the damping force of automobile.
The brake system catanator structure difference of orthodox car is little, by subjective assessment, can obtain comparatively enough improvement foundations.But on new-energy automobile, due to the introducing of regeneration brake system and the reduction of vacuum source (or even disappearance), it is more complicated and diversified that the structure of brake operating mechanism becomes, so pedal sense is compared and made a world of difference with orthodox car.In order to make regeneration brake system reliability service, at present, in the catanator of most regeneration brake systems, all introduced special pedal sense simulator and simulated pedal sense.
In order to go more accurately to design the parameter of pedal sense simulator, need to set up the mathematical model of brake pedal feel characteristic and carry out the parameter that a series of objective evaluation tests to obtain model.And the objective evaluation being operated by driver test consistance is very poor, this causes test efficiency reduce and can allow result become unreliable.Therefore, being necessary to develop and a kind ofly can accurately trampling according to predefined condition the robot of brake pedal, to obtain good precision and repeatability, is the catanator exploitation service of regeneration brake system.
Along with the development of auto industry, the mankind are more and more higher to the performance requirement of automobile, need to improve design by means of a large amount of tests, and numerous items in automobile test is more suitable for being operated by robot.Drive robot is in automobile test, to replace mankind driver to carry out the industrial robot of driver behavior, for example, adopt drive robot to carry out motor vehicle emission endurancing and not only can reduce the labour intensity of testing crew, reduce testing expenses, improve test efficiency, and can eliminate the impact of human factor, the accuracy of warranty test data and validity.But because its technical difficulty is high, also there is no at home corresponding product, at present can only dependence on import.Domesticly in the mid-90 in 20th century, start the research work of Vehicle Driver Robot, starting is evening relatively, but has obtained remarkable progress.Mainly contain at present Southeast China University and Nanjing Vehicle Research Inst.'s joint research and development successfully, there are the DNC mono-1 type pneumatic type drive robots for automobile performance test of independent intellectual property right and for the DNC mono-2 type gas electric hybrid type driving robots of motor vehicle emission endurancing, filled up domestic blank, on this basis, developing at present full electric type DNC-3 type drive robot.And domestic other colleges and universities, as Tsing-Hua University, Jilin University, Beijing Institute of Technology, Zhejiang University, the National University of Defense technology, Institutes Of Technology Of Nanjing etc. mainly lay particular emphasis on the research of intelligent vehicle in the research of association area, vehicle is done as a wholely to consider, its vehicle is in fact a mobile robot, and vehicle has been done to larger transformation.
The utility model is a kind of automobile brake robot actuating mechanism, the braking procedure of only advancing for controlling automobile.At home temporarily without similar utility model, Fig. 1 is consulted in the design of a kind of automobile brake robot actuating mechanism that YouABD company produces abroad at present.Chief component element has: 1-robot foot; 2-pressure transducer; 3-push rod; 4-dynamical element; 5-rocking arm; 6-bracing frame.
The current general build of Vehicle Driver Robot topworks is larger, and reason is the waste gas that while utilizing running car, engine produces, and adopts mode pneumatic or that pneumoelectric mixes as power source.The defect causing has: pilothouse is taken up room greatly by robot, and driver cannot sit into pilothouse and control automobile, causes the maneuverability variation of experiment, once robot breaks down, automobile just probably loses and controls; Adopt pneumatic mode as power source than pure electronic as power source, its control accuracy is generally lower, higher control accuracy is very helpful for reliability and the accuracy of experimental result.
Summary of the invention
Technical problem to be solved in the utility model is that the braking robot actuating mechanism that has overcome prior art existence occupies the problems such as cab space is large, the fixed form of braking robot in car is not firm, provides a kind of for setting up the automobile brake robot actuating mechanism of brake pedal feel characteristic mathematical model.
For solving the problems of the technologies described above, the utility model is to adopt following technical scheme to realize, and accompanying drawings is as follows:
An automobile brake robot actuating mechanism, is mainly comprised of servo electric jar 7, upper support frame 8, lower support frame 9, bracing frame base plate 10, pressure transducer 11, brace summer 12, ball pivot 13 and robot foot 17,
Described servo electric jar 7 tail ends are arranged on brace summer 12 by bearing, and the tail end of described servo electric jar 7 front ends and pressure transducer 11 is threaded connection; The front end of pressure transducer 11 is connected with ball pivot 13, and ball pivot 13 and robot foot ear piece 14 are hinged;
Brace summer 12 is fixed on upper support frame 8, and upper support frame 8 is fixedly connected with lower support frame 9, and lower support frame 9 is fixedly connected with bracing frame base plate 10, and bracing frame base plate 10 is fixed on automobile cab base plate.
The tail end of described servo electric jar 7 is provided with servo electric jar ear piece 25, and servo electric jar ear piece 25 is provided with circular hole, and circular hole inner sleeve has bearing 26, and brace summer 12 is through bearing 26, and servo electric jar 7 can rotate around brace summer 12.
Described servo electric jar 7 travels forward by the rotation promotion ball screw nut 23 of inner ball screw 22, ball screw nut 23 is connected with servo electric jar push rod 18, servo electric jar push rod 18 is that an outer end has one section of externally threaded rigid bar, servo electric jar push rod 18 is released by straight line, the rectilinear motion of finishing the work and needing.
Described robot foot 17 is comprised of robot foot ear piece 14 and robot footrest 15, and robot foot ear piece 14 is provided with through hole, and described ball pivot 13 is provided with through hole, and hinged bolts is through two through holes, and robot foot ear piece 14 is vertically welded on robot footrest 15.
Upper support frame 8 is provided with through hole, and brace summer 12 is through the through hole of upper support frame 8, and upper support frame 8 is provided with two bolts, for clamping brace summer 12.
Brace summer 12 is provided with groove, and upper support frame 8 is provided with flange, and the groove of brace summer 12 is corresponding with the flange of upper support frame 8.
In the middle of upper support frame 8 and lower support frame 9, all have groove, the groove position of the groove of upper support frame 8 and lower support frame 9 partly overlaps, and passes bolt in slotted eye, and the snap-in force by bolt makes upper support frame 8 be fixedly connected with lower support frame 9.
The thrust of servo electric jar 7 is delivered on brake pedal 16 by robot foot 17, play the effect of drive simulating person's pin, on robot footrest 15, have four grooves, have four bolts respectively through slotted eye, brake pedal 16 and robot footrest 15 are clamped in the middle of screw bolt and nut.
The utility model is for adapting to various, and the support section of robot is made upper and lower two bracing frames, can come control pin to step on the angle of brake pedal by the overall height of adjusting support frame.Employing is punched on automotive floor panel, uses bolt that robot is fixed on to the fixed form on automotive floor panel.Use ball pivot to connect robot foot and pressure transducer, assurance robot foot can be close on pedal and with pedal and be rotated.
Compared with prior art the beneficial effects of the utility model are:
The utility model has the advantage of and saved to greatest extent the space in car, can meet driver and be sitting in steering vehicle in car.Mechanism height, angle is adjustable, thereby can on the automobile of multiple different model size, test.In addition, mechanism adopts and is fixed on the fixed form on automotive floor panel, and this kind of fixed form is solid and reliable, and the in the situation that of can guaranteeing to jolt vibrations when running car, experiment is accurately and reliably carried out.Than robot being tied up to fixed form on the seat, fixed form of the present utility model is more solid and reliable.Meanwhile, parts and material that the utility model is used are less, assembling and easy for installation, and can reduce costs, so price is more cheap.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the utility model is further described:
The automobile brake robot actuating mechanism schematic diagram of Figure 1A BD company;
The axonometric projection graph of Fig. 2 automobile brake robot actuating mechanism described in the utility model;
The cut-open view of the servo electric jar of Fig. 3 automobile brake robot actuating mechanism described in the utility model;
The tail end connected mode partial schematic diagram of the servo electric jar of Fig. 4 automobile brake robot actuating mechanism described in the utility model;
The workflow diagram of Fig. 5 automobile brake robot actuating mechanism described in the utility model;
In figure:
1, robot foot; 2, pressure transducer; 3, push rod; 4, dynamical element; 5, rocking arm; 6, bracing frame; 7, servo electric jar; 8, upper support frame; 9, lower support frame; 10, bracing frame base plate; 11, pressure transducer; 12, brace summer; 13, ball pivot; 14, robot foot ear piece; 15, robot footrest; 16, brake pedal; 17, robot foot; 18, servo electric jar push rod; 19, bearing cap; 20, steel cylinder section bar; 21, piston rod; 22, ball screw; 23, ball screw nut; 24, the outer hub of driver; 25, servo electric jar ear piece; 26, bearing.
Embodiment
Below in conjunction with accompanying drawing, the utility model is explained in detail:
The axonometric projection graph of Tu2Wei Gai topworks, this mechanism is mainly comprised of servo electric jar 7, upper support frame 8, lower support frame 9, bracing frame base plate 10, pressure transducer 11, brace summer 12, ball pivot 13, robot foot ear piece 14, robot footrest 15.
Fig. 3 is the cut-open view of servo electric jar 7, rotation promotion ball screw nut 23 by inner ball screw 22 during servo electric jar 7 work travels forward, piston rod 21 be one section without the polished rod of helical, be integrated with ball screw 22, ball screw nut 23 is connected with servo electric jar push rod 18, servo electric jar push rod 18 is that an outer end has one section of externally threaded rigid bar, and servo electric jar push rod 18 is released by straight line like this, the rectilinear motion of finishing the work and needing.
The tail end connected mode of servo electric jar 7 is consulted Fig. 4, on the outstanding ear piece 25 of servo electric jar tail end, is drilled with circular hole, and circular hole inner sleeve has bearing 26, and in bearing 26, through brace summer 12, servo electric jar 7 can rotate around brace summer 12.
Brace summer 12, through the through hole of upper support frame 8, is clamped by two bolts of upper support frame.The groove of brace summer 12 is corresponding with the flange of upper support frame 8 simultaneously, prevents that brace summer 12 from rotating in through hole, causes servo electric jar 7 to locate in motion process inaccurate.
In the middle of upper support frame 8 and lower support frame 9, have the partly overlapping groove in position, in the groove of two of left and right, respectively through 2 bolts, adopt the snap-in force of bolt that upper support frame 8 and lower support frame 9 are fixed together, can not produce the displacement of vertical direction.Simultaneously by regulating the size of upper and lower bracing frame groove lap can regulate the height of whole bracing frame, and then regulate servo electric jar push rod 18 and brake pedal 16 angulations, can guarantee that like this this braking robot actuating mechanism is all applicable in different automobile types.Lower support frame 9 and bracing frame base plate 10 vertically weld together, and bracing frame base plate 10 has 4 through holes, middle through bolt, are connected on automobile cab base plate.
Pressure transducer 11 tail ends and front end all adopt and are threaded, and tail end connects servo electric jar push rod 18, and front end connects ball pivot 13.In the through hole of ball pivot 13, through one piece of hinged bolts, this bolt also through the through hole on robot foot ear piece 14, makes robot foot ear piece 14 and ball pivot 13 hinged simultaneously.
Robot foot ear piece 14 is vertically welded on robot footrest 15, combine and form robot foot 17, robot foot 17 connects topworks and brake pedal 16, play the effect of drive simulating person's pin, on robot footrest 15, have 4 grooves, there are 4 bolts respectively through slotted eye, brake pedal 16 and robot footrest 15 are sandwiched in the middle of screw bolt and nut, bolt is tightened together with rear brake pedal 16 fit tightly with robot footrest 15, thereby guarantees that the thrust of servo electric jar 7 can be delivered to brake pedal.
In topworks's course of work, servo electric jar 7 receives signal, servo electric jar push rod 18 straight lines are released, the tail end of servo electric jar 7 rotates freely around brace summer 12, front end promotes pressure transducer 11 and ball pivot 13 power to 17 1 pedal directions of robot foot by servo electric jar push rod 18, thereby brake pedal 16 is rotated around pedal shaft, reach the object of braking.(1), braking robot actuating mechanism working method
This topworks should guarantee following 4 requirements while working:
1. the accurate control of pedal travel, need at least be accurate to 0.1mm;
2. the time of brake pedal being floored must not surpass 0.2s;
3. the stroke that electric cylinder advances can not surpass the total travel of pedal;
4. the thrust that electric cylinder provides can not be lower than maximum pedal force.
Based on above 4 points, design the workflow diagram of automobile brake robot actuating mechanism, consult Fig. 5.
(2), power source selection
1. servo electric jar introduction
Servo electric jar is by the modular product of servomotor and leading screw integrated design, convert rotatablely moving of servomotor to rectilinear motion, simultaneously by servomotor optimum benefits---precise rotation is controlled, accurately revolution is controlled, accurately moment of torsion is controlled and is transformed into---and precise speed is controlled, Accurate Position Control, accurately thrust is controlled; Realize the brand-new revolutionary product of high precision rectilinear motion series.
The advantage that servo electric jar has is as follows:
(1). control accuracy is high
Servo electric jar adopts closed loop servo to control, and control accuracy reaches 0.01mm; Can accurately control thrust, increase after pressure transducer, control accuracy can reach 1%; Be easy to be connected with PLC dispatch control system, realize high-accuracy motion control.
(2). the work period is long
It is low that it has noise, energy-conservation, clean, high rigidity, anti-impact force, overlong service life, the simple feature of Operation and Maintenance.Can long-term work, and realize high strength, high-speed, hi-Fix.So be widely used in paper industry, chemical industry, automobile industry, electron trade, mechanical automation industry, welding profession etc.
(3). cost is safeguarded low
Servo electric jar is used grease lubrication, works and only need injecting grease for lubricating termly under complex environment, there is no consumable accessory and need to safeguard replacing, will reduce a large amount of after service costs than hydraulic system and baric systerm.
(4). the best substitute of hydraulic cylinder and cylinder
Servo electric jar is replacement liquid cylinder pressure and cylinder completely, and more environmental protection, more energy-conservation, cleaner, is easy to be connected with PLC dispatch control system, realizes high-accuracy motion control.
(5). configuration flexibility
Can provide configuration is installed very flexibly.
(6). there is the installation component of complete series
Servo electric jar can be used forward flange, rear flange, and side flange, afterbody is hinged, and gudgeon is installed, the mounting meanss such as oriented module installation; Can install with servomotor straight line, or parallel installation; Can increase various annex: limit switch, planetary reducer, pre-load nut etc.; Driving can be selected AC brake motor, direct current generator, stepper motor, servomotor etc.
2. the servo electric jar of selecting
(1). the selection standard of servo electric jar
Selecting of servo electric jar need to meet 3 requirements: the 1. dimensional requirement of meeting spatial; 2. maximum thrust is not less than maximum pedal force; 3. stroke is greater than the total travel of pedal.
According in ECE (UNECE's automotive regulation) for the requirement of ordinary passenger car braking ability, pedal force does not allow to surpass 500N.According to the design experiences of general passenger car, the total travel of brake pedal can not surpass 120mm.
(2). select product introduction and the technical parameter of servo electric jar
Take described is above standard to the parameter request of servo electric jar, through market study and screening, selects the servo electric jar that U.S. Exlar company model is GSX20-06-04.Table 1 is the important technological parameters of servo electric jar.
Table 1
This servo electric jar is as follows than the advantage of other products:
1. use planetary roller screw technology, work more reliable, exceed like product serviceable life more than 20%.
2. servo electric jar and servomotor gather together, and do not need separately to join servomotor.
3. use closed loop servo system, position feedback various informative, comprises: rotary transformer, relative coding device, absolute encoder, external grating scale, external displacement transducer.Its control accuracy is to 0.01mm.Like product does not have position feedback substantially, and control accuracy is difficult to reach 0.01mm.
4. can increase built-in pressure transducer and external pressure transducer.
(3), controller is selected
Match with the servo electric jar of selecting, select the servo-driver that U.S. kollmogen company model is S70362.The feature of this servo-driver is:
(1). control mode is simple and easy to do.Can be connected with computing machine by I/O interface, and use Work-Bench software that the said firm provides programming Control on computers, this software application modular programming mode.
(2). can directly by data cable, be connected with servo electric jar, without buying separately joint.
(4), vehicle-mounted inverter
Servo electric jar and servo-driver are used is 220V alternating current, Er Gai topworks requires to work in the process of running car, the 12V direct current that can only use automobile current generator to provide, therefore need to increase a vehicle-mounted inverter in the supply lines of power supply.
1. vehicle-mounted inverter introduction
Vehicle-mounted inverter (power supply changeover device Power Inverter) is a kind ofly DC12V direct current can be converted to the power supply changeover device of AC220V alternating current.
The whole circuit of vehicle-mounted inverter can be divided into two large divisions substantially, every part adopts a TL494 or KA7500 chip to form control circuit, wherein the effect of first's circuit is the 12V direct current that automobile storage battery etc. is provided, and converts the alternating current of 30kHz-50kHz, 220V left and right by high-frequency PWM (width modulation) switch power technology to; The effect of second portion circuit is to utilize the technology such as bridge rectifier, filtering, width modulation and switch power output, the alternating current of 30kHz～50kHz, 220V left and right is converted to the alternating current of 50Hz, 220V.
2. the vehicle-mounted inverter of selecting
(1). vehicle-mounted inverter choice criteria
While using vehicle-mounted inverter, the power of electrical appliance cannot surpass the peak power of vehicle-mounted inverter, otherwise vehicle-mounted inverter can be burnt out.According to the information in table 2, can calculate the maximum general power of servo electric jar and servo-driver:
result of calculation P
alwaysfor 1282W.
(2). select product introduction and the technical parameter of vehicle-mounted inverter
Select weidier vehicle-mounted inverter, the feature of product is as follows:
1. the conversion efficiency of inverter is high, can reach more than 90%.
2. internal protection circuitry has prevented the impact of electric pulse or voltage fluctuation, can bear the larger electrical appliance clean boot of percussion power such as compressor, television indicator, and power switch can thoroughly cut off internal circuit, has no progeny and can protect storage battery not to be damaged.
3. self-protection design, when voltage is during lower than 10V, will close automatically, has guaranteed that accumulator has enough electric energy to start vehicle.
4. overheated or overload time can be closed automatically; After recovering normally, can automatically start again.
5. I/O mode is various: 12V input, 24V input, cigar lighter input, storage battery are directly inputted; 220V exchanges output, 110V exchanges output etc.Table 2 is the technical parameter of this vehicle-mounted inverter:
Table 2
(5), pressure transducer and digital pressure display
1. pressure transducer
From principle minute, current pressure transducer is mainly divided into strain gauge transducer, capacitance type sensor and piezoelectric transducer etc.From dividing in shape, there are cheese pressure transducer, cylindricality pressure transducer, S shape pressure transducer etc.In Gai mechanism, pressure transducer requires to be connected between servo electric jar and robot foot, and the external thread that the push rod joint of electric servo cylinder is M10, the other end will be used a ball pivot to be hinged in robot foot.The comprehensive above requirement that sensor is connected, selects S shape strain pressure transducer the most reasonable.Table 3 is the important technological parameters of S shape pressure transducer
Table 3
2. digital pressure display
In this braking robot actuating mechanism course of work, be necessary to show according to the brake-pedal travel changing the pedal force changing, thereby obtain the curve of brake-pedal travel-pedal force.Digital pressure display can be processed the electric signal from pressure transducer, and force value is presented on digital display screen, meets the requirement of measuring pedal force.
The choice criteria of digital pressure display:
(1). this pressure transducer carries signal amplifier, therefore do not need separately to join pressure unit, signal Full-span output after amplifying is 1.5mV-2.0V, selects the digital pressure display of suitable range according to this output signal range.
(2). this pressure transducer is three-wire system sensor, and single line connects positive source, and second line namely signal wire is connected to power cathode through instrument, and the 3rd line is directly connected to the negative pole of power supply.Than the mode of connection of two-wire system, three-wire system has line resistance compensation, can eliminate the impact of lead resistance, and measuring accuracy is higher than two-wire system.Than four-wire system, when meeting this mechanism's measuring accuracy requirement, three-wire system cost is lower.According to the mode of connection of this sensor, select suitable digital pressure display.
The digital pressure display model of selecting is SP42-M2A, the sensor that this digital pressure display application signal is 2mV/V, and bound is reported to the police and is exported.Its input and output adopts connection terminal, and reliably convenient, terminal 15 and 16 connects sensor power supply line, and terminal 1 and 3 connects sensor signal lines, and OUT2 is upper limit alarm output, and OUT1 is lower limit warning output.
Claims (8)
1. an automobile brake robot actuating mechanism, is characterized in that:
Mainly by servo electric jar (7), upper support frame (8), lower support frame (9), bracing frame base plate (10), pressure transducer (11), brace summer (12), ball pivot (13) and robot foot (17), formed;
It is upper that described servo electric jar (7) tail end is arranged on brace summer (12) by bearing, and the tail end of described servo electric jar (7) front end and pressure transducer (11) is threaded connection; The front end of pressure transducer (11) is connected with ball pivot (13), and ball pivot (13) and robot foot ear piece (14) are hinged;
It is upper that brace summer (12) is fixed on upper support frame (8), and upper support frame (8) is fixedly connected with lower support frame (9), and lower support frame (9) is fixedly connected with bracing frame base plate (10), and bracing frame base plate (10) is fixed on automobile cab base plate.
2. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
The tail end of described servo electric jar (7) is provided with servo electric jar ear piece (25), servo electric jar ear piece (25) is provided with circular hole, circular hole inner sleeve has bearing (26), and brace summer (12) is through bearing (26), and servo electric jar (7) can rotate around brace summer (12).
3. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
Described servo electric jar (7) travels forward by the rotation promotion ball screw nut (23) of inner ball screw (22), ball screw nut (23) is connected with servo electric jar push rod (18), servo electric jar push rod (18) is that an outer end has one section of externally threaded rigid bar, servo electric jar push rod (18) is released by straight line, the rectilinear motion of finishing the work and needing.
4. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
Described robot foot (17) is comprised of robot foot ear piece (14) and robot footrest (15), robot foot ear piece (14) is provided with through hole, described ball pivot (13) is provided with through hole, hinged bolts is through two through holes, and robot foot ear piece (14) is vertically fixed on robot footrest (15).
5. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
Upper support frame (8) is provided with through hole, and brace summer (12) is through the through hole of upper support frame (8), and upper support frame (8) is provided with two bolts, for clamping brace summer (12).
6. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
Brace summer (12) is provided with groove, and upper support frame (8) is provided with flange, and the groove of brace summer (12) is corresponding with the flange of upper support frame (8).
7. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
In the middle of upper support frame (8) and lower support frame (9), all have groove, the groove position of the groove of upper support frame (8) and lower support frame (9) partly overlaps, in slotted eye, through bolt, the snap-in force by bolt makes upper support frame (8) be fixedly connected with lower support frame (9).
8. a kind of automobile brake robot actuating mechanism according to claim 1, is characterized in that:
The thrust of servo electric jar (7) is delivered on brake pedal (16) by robot foot (17), on robot footrest (15), have four grooves, have four bolts respectively through slotted eye, brake pedal (16) and robot footrest (15) are clamped in the middle of screw bolt and nut.
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| CN201420169559.2U CN203908780U (en) | 2014-04-09 | 2014-04-09 | Vehicle brake robot execution mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699080A (en) * | 2015-03-27 | 2015-06-10 | 吉林大学 | Testing and calibration system of pedal feeling simulator of line controlling moving system |
| 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 |
| CN107462409A (en) * | 2017-08-14 | 2017-12-12 | 中车青岛四方车辆研究所有限公司 | The experimental rig of hopper wagon bottom door and switching mechanism |
| CN107621370A (en) * | 2017-08-14 | 2018-01-23 | 江苏科达车业有限公司 | A kind of side pedal tramples experimental rig |
| CN107687952A (en) * | 2017-09-04 | 2018-02-13 | 奇瑞汽车股份有限公司 | Gas pedal test device and gas pedal method of testing |
| CN108507801A (en) * | 2018-06-05 | 2018-09-07 | 成都工业职业技术学院 | Device is trampled in a kind of detection of vehicle braking |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN111537234A (en) * | 2020-04-23 | 2020-08-14 | 中汽研汽车检验中心(宁波)有限公司 | Brake pedal robot |
| CN112393912A (en) * | 2020-04-20 | 2021-02-23 | 襄阳达安汽车检测中心有限公司 | Auxiliary measurement device and measurement method for utilization rate of adhesion coefficient of automobile ABS (anti-lock braking system) |
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2014
- 2014-04-09 CN CN201420169559.2U patent/CN203908780U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699080A (en) * | 2015-03-27 | 2015-06-10 | 吉林大学 | Testing and calibration system of pedal feeling simulator of line controlling moving system |
| CN104699080B (en) * | 2015-03-27 | 2017-05-17 | 吉林大学 | Testing and calibration system of pedal feeling simulator of line controlling moving system |
| 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 |
| CN107462409A (en) * | 2017-08-14 | 2017-12-12 | 中车青岛四方车辆研究所有限公司 | The experimental rig of hopper wagon bottom door and switching mechanism |
| CN107621370A (en) * | 2017-08-14 | 2018-01-23 | 江苏科达车业有限公司 | A kind of side pedal tramples experimental rig |
| CN107687952A (en) * | 2017-09-04 | 2018-02-13 | 奇瑞汽车股份有限公司 | Gas pedal test device and gas pedal method of testing |
| CN108507801A (en) * | 2018-06-05 | 2018-09-07 | 成都工业职业技术学院 | Device is trampled in a kind of detection of vehicle braking |
| CN110514451A (en) * | 2019-08-16 | 2019-11-29 | 天津卡达克数据有限公司 | A kind of modular Vehicular automatic driving speed control robot |
| CN110514451B (en) * | 2019-08-16 | 2021-04-27 | 天津卡达克数据有限公司 | Modular vehicle automatic driving speed control robot |
| CN112393912A (en) * | 2020-04-20 | 2021-02-23 | 襄阳达安汽车检测中心有限公司 | Auxiliary measurement device and measurement method for utilization rate of adhesion coefficient of automobile ABS (anti-lock braking system) |
| CN111537234A (en) * | 2020-04-23 | 2020-08-14 | 中汽研汽车检验中心(宁波)有限公司 | Brake pedal robot |
| CN111537234B (en) * | 2020-04-23 | 2022-07-12 | 中汽研汽车检验中心(宁波)有限公司 | Brake pedal robot |
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