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WO2011069669A2 - Dispositif de positionnement pour un robot de translation - Google Patents

Dispositif de positionnement pour un robot de translation Download PDF

Info

Publication number
WO2011069669A2
WO2011069669A2 PCT/EP2010/007535 EP2010007535W WO2011069669A2 WO 2011069669 A2 WO2011069669 A2 WO 2011069669A2 EP 2010007535 W EP2010007535 W EP 2010007535W WO 2011069669 A2 WO2011069669 A2 WO 2011069669A2
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
actuating rod
driving robot
actuating
adjusting device
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.)
Ceased
Application number
PCT/EP2010/007535
Other languages
German (de)
English (en)
Other versions
WO2011069669A3 (fr
Inventor
Anton Knestel
Markus Knestel
Thomas Specker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maha AIP GmbH and Co KG
Original Assignee
Maha AIP GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Maha AIP GmbH and Co KG filed Critical Maha AIP GmbH and Co KG
Priority to EP10790621.6A priority Critical patent/EP2510327B1/fr
Priority to US13/511,440 priority patent/US20130002050A1/en
Priority to CN201080056284.6A priority patent/CN103109171B/zh
Publication of WO2011069669A2 publication Critical patent/WO2011069669A2/fr
Anticipated expiration legal-status Critical
Publication of WO2011069669A3 publication Critical patent/WO2011069669A3/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • B60T17/222—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems by filling or bleeding of hydraulic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger

Definitions

  • the present invention relates to an adjusting device for a driving robot, which reduces the effort for setting or for teaching the / the adjusting means. Furthermore, the effort for the determination of the pedal force can be reduced.
  • an adjusting device for a driving robot which has at least one adjusting means, which comprises at least one actuating rod having an actuator region and a contact element, wherein the contact element can be brought into connection with a pedal and the actuating rod in the actuator region a rotationally symmetrical component is, which is slidably received in the actuator in an actuator housing.
  • the actuating rod in the actuator region includes a first element and the actuator housing has a second element which is provided in an outer initial region of the first element, wherein the first element and the second element ment form an electromagnetic force generating means for moving the actuating rod.
  • the present structure of the adjusting device has the advantage that the use of (force) measuring sensors for determining the operating force of the pedal can be omitted both for setting up the actuating means when connecting to the pedal as well as for their measurement during operation, as that of the electromagnetic Force generating means in the actuating rod introduced force, for example, proportional to the electric current for the second element and thus with knowledge of the electric current is known.
  • the cost of the actuator can be reduced.
  • a further advantage of the present adjusting device arises with regard to the setting or the teaching of the actuating means compared to the above-described procedure according to the prior art.
  • the electromagnetic force generating means is first turned off in the present adjusting device.
  • the actuating rod is manually guided in the direction of the pedal until the contact element, which can also be a connecting element depending on the pedal to be actuated, the actuating rod can be brought into a preferably positive or a non-positive connection with the pedal, with only a small force required to move the actuator rod.
  • the determination of the end position of the actuating rod for the pushed pedal is also carried out with a switched off electromagnetic power generating means, for which purpose the actuating rod until the end position of the pedal is reached. Subsequently, their position is stored as end position in a connected computer by the distance measurement of the actuating rod.
  • the present adjusting device for a driving robot has the advantage that due to their construction and the minimization of the moving parts, a particularly quiet and dynamic adjusting device for a driving robot is provided, which is also suitable for use on a Fahrgehoffschprüfstand.
  • the gap width between the first element and the second element of the electromagnetic force generating means may be substantially constant in the longitudinal direction of the second element.
  • the gap width between the first member and the second member of the electromagnetic force generating means may also decrease in the longitudinal direction of the second member.
  • the actuator area can survive in operation in any position of the actuating rod at both ends of the actuator housing.
  • the length of the travel for the operating rod in operation is only by the length of the first element in the Actuator bar limited, while at the same time a method of operating rod in opposite directions is possible.
  • the actuator region can extend in any desired position of the actuating rod in the longitudinal direction through the actuator housing.
  • the first member may be at least one coil
  • the second member may include at least one magnet
  • a coil is understood to mean a component which, on the one hand, has a predetermined number of windings, and, on the other hand, is suitable for generating or detecting a magnetic field.
  • a coil may consist of at least one winding of a conductor made of, for example, wire, enameled copper wire or a Hochfrequenzlitze.
  • the coil may be wound on a bobbin.
  • the coil may be provided with a magnetizable core.
  • the electromagnetic properties of a coil are determined in particular by the winding arrangement, its diameter, the winding material and the core material, which can be specified quantitatively, in particular by means of the value of their inductance.
  • the second element or the coil can be a rotationally symmetrical component.
  • the second element or the coil may also have a non-symmetrical design.
  • the magnets may for example be permanent magnets or permanent magnets, which may consist of metallic alloys, which may contain, for example, iron, nickel and aluminum with additives of cobalt, manganese and copper.
  • the permanent magnets can but also of a ceramic material, for example, barium or Strontiumhexaferrit exist.
  • the magnets can also be electromagnets, with, for example, one or two current-carrying coils with a core of a soft magnetic material, in particular of soft iron.
  • adjacent magnets may each have an opposite magnetic orientation.
  • a plurality of magnets can be arranged in the interior of the actuator region in the adjusting device.
  • the magnets may each have a cylindrical or a disk-shaped configuration. Due to the rotationally symmetrical design of the magnets in the actuator area they can be introduced by means of a bore in the actuating rod.
  • the magnets in the actuator region can also terminate flush with the outer circumferential surface of the actuator region, so that the actuator region is completely formed by the magnets.
  • the magnets of the actuator portion may be formed annularly, which are then received with its inner circumferential surface from the outer peripheral portion of the actuator portion.
  • the electrical current through the at least one coil may be substantially proportional to the applied force of the actuating rod in the pedal.
  • proportional can be understood a substantially linear relationship between the electrical current for a coil and the resulting force of the actuating rod in the pedal.
  • a non-linear relationship can be understood as meaning nonlinearity can be taken into account in the control of the electric current for the coil, for example by the use of a characteristic, so that the desired operating force can be provided on the pedal.
  • the actuating rod in the de-energized state of the coil or the second element with low forces be rotatable.
  • This is particularly advantageous in terms of connecting the contact or connecting element of the actuating rod with the pedal when setting up the adjusting device, since after switching off the electromagnetic force generating means, the contact or connecting element of the actuating rod are pivoted with little force and then manually can be moved into the area below the pedal, with only a further pivoting in the direction of the pedal is then required for connecting the contact or connecting element with the pedal. The exact adjustment of the position of the contact or connecting element with the pedal is finally carried out by moving the actuating rod.
  • a present adjusting device for a driving robot can be moved by means of the restoring force of the pedal to its original position in the de-energized state of the coil, the actuating rod.
  • This has the advantage that after the end of the test cycle to be tested by the switching off of the electromagnetic force generating means, the actuating rod is automatically guided to the neutral position of the pedal, so that when re-running the driving cycle resetting the operating rod can be omitted in the starting position.
  • magnetic field sensors are provided which scan the magnets in the actuator region with a phase shift of substantially 90 °, so that the position of the actuating rod can be determined by means of an interpolation.
  • the magnetic sensors can be used for position detection of the actuating rod, wherein a high-resolution path signal is available through the interpolation of the sine and cosine values of the measured values of the magnetic field sensors.
  • the length of the actuator housing may substantially correspond to the length of the electromagnetic force generating means.
  • FIG. 1 shows a plan view of an actuating means for a present adjusting device
  • FIG. 2 shows a side view of the actuating means according to FIG. 1, FIG.
  • FIG. 3 shows a lateral sectional view along the section line A-A of the actuating means according to FIG. 2, FIG.
  • FIG. 4 shows a detailed view of the region Z of the actuating means according to FIG. 3, FIG.
  • FIG. 5 shows a front view of the actuating means according to FIG. 1
  • 6 shows a side view of an adjusting device with the adjusting means of FIG. 1
  • FIG. 7 shows a perspective view of the adjusting device according to FIG. 6,
  • FIG. 8 shows a top view of the adjusting device according to FIG. 6,
  • FIG. 9 shows a front view of the adjusting device according to FIG. 6,
  • FIG. 10 shows a perspective view of the adjusting device according to FIG. 6 in a vehicle
  • FIG. 11 shows a top view of the vehicle with an adjusting device according to FIG. 10, FIG.
  • FIG. 12 shows a view from the side of the vehicle according to FIG. 10, FIG.
  • Fig. 13 shows a partial sectional view of the vehicle of FIG. 10,
  • FIG. 14 shows a perspective view of the vehicle with inserted actuating rods for the adjusting device according to FIG. 10.
  • an actuator 10 for a present robot driver will now be described.
  • the essential components of the actuating means 10 thereby form an actuating rod 25, which is accommodated in an actuator housing 60 and is slidably mounted therein, and an electromagnetic force generating means, consisting of a coil 70 (as a first element) and at least one magnet 80 (second Element) is formed.
  • an electromagnetic force generating means consisting of a coil 70 (as a first element) and at least one magnet 80 (second Element) is formed.
  • a plurality of magnets 80 is used Commitment.
  • the actuating rod 25 has an actuator region 50 and a connecting portion 27 with a contact or connecting element 90, wherein the connecting element 90 is arranged at a longitudinal end of the connecting portion 27.
  • the plurality of magnets 80 are disposed inside the actuator portion 50 of the operating rod 25.
  • a stop 130 is formed, which prevents slipping out of the actuating rod 25 from the actuator housing 60.
  • the stopper 130 is connected to the actuating rod 25 by means of a screw 135.
  • the connecting element 90 has a U-shaped configuration, wherein the inner region of the connecting element 90 with a pedal (not shown) of a vehicle (not shown) is connected, so that the actuating means 10 in the operation of the actuator, the pedal by means of the actuating rod 25 with act on a force and thus can serve.
  • the connecting element 90 is connected to a coupling sleeve 140.
  • the coupling sleeve 140 has at the longitudinal end, which is the connection of the coupling sleeve 140 with the connecting member 90 opposite, a design in the manner of a hexagon socket, inside which a connecting head 38, which is formed at the free longitudinal end of the connecting portion 27 and configured is that a torque transmission between the connecting portion 27 and the coupling sleeve 140 is possible, is received.
  • the connecting element 90 can follow the control movements of the actuating rod 25.
  • a desired position of the connecting element 90 between the coupling sleeve 140th and the operating rod 25 can be ixiert by means of a pedal clamping lever 15.
  • the actuator housing 60 For electrical or control technical supply of the coil 70 and magnetic field sensors (not shown) in the actuator housing 60 for determining the position of the actuating rod 25, the actuator housing 60 is connected to a cable line 120, which in its interior power supply cable (not shown) leads, which with a voltage source (not shown) are connected.
  • the cable line 120 also leads in its interior at least one data cable (not shown), which is connected to a control computer (not shown).
  • the actuator housing 60 has a substantially hollow cylindrical design, wherein 60 seals (not shown) may be provided at the longitudinal ends of the actuator housing, which can protect the interior of the actuator housing 60 from an entry of dirt from the actuator 50 of the sliding actuating rod 25.
  • the actuator housing 60 has in each case a bore in the middle region of its longitudinal ends, as a result of which the actuator region 50 is moved into or out of the actuator housing 60.
  • the diameter of the bore is larger than the diameter of the actuator 50, so there is a gap between the two components.
  • the actuator housing 60 is received by an upper jaw 61 and a lower jaw 62, each having a storage area (not shown), which is formed in the manner of a bearing shell and each for connection to the actuator housing 60 is used. As a result, the actuator housing 60 is rotatable and displaceable in the longitudinal direction of the actuator housing 60 stored.
  • a clamping lever 110 is provided, which can clamp the two jaws 61, 62 with the actuator housing 60 or 60 for moving the actuator housing the connection can also solve again.
  • the lower jaw 62 is connected to a pipe connector 95 for connecting the actuator 10 to a receiving pipe (not shown), the pipe connector 95 having a pipe receiving portion 93 extending transversely of the actuator housing 60.
  • the tube connector 95 In the end region of its receiving legs on a bore which receives a fixing pin 100, which provides by twisting for a clamping of the receiving tube with the tube receiving portion 93 of the pipe connector 95.
  • a coil 70 is arranged in the region of the inner circumferential wall, which consists of a plurality of turns.
  • the coil 70 encloses the outer circumferential region of the actuator region 50 of the actuating rod 25, wherein a gap is formed between the two components.
  • the gap between the outer peripheral portion of the actuator portion 50 and the coil 70 is rotationally symmetric.
  • the coil 70 also has a rotationally symmetrical design.
  • the coil 70 is traversed by an electric current that generates a magnetic field around the coil 70.
  • the magnetic field of the coil 70 then overlaps with the magnetic field of the magnet (s) 80 of the actuator portion 50 of the actuator rod 25, thereby exerting a resultant force on the actuator rod 25 that is substantially proportional to the current through the coil 70.
  • this resulting force provides for a relative movement the actuating rod 25 relative to the fixed actuator housing 60, wherein the direction of the relative movement of the current flow direction in the coil 70 depends.
  • the plurality of magnets 80 in the interior of the actuator region 50 each have a cylindrical configuration, the diameter of which is smaller than the diameter of the actuator region 50.
  • adjacent magnets each have an opposite magnetic orientation.
  • the length of the actuator region 50 is determined by the entire length of the respective adjacent magnets 80.
  • the adjusting means 10 and 20 each have a connecting element 90, which serves for connecting the respective actuating rod 25 of the actuating means with a pedal (not shown).
  • the adjusting means 30, however, has no corresponding connecting element.
  • the actuating means 10 for actuating the clutch in a vehicle (not shown) while the adjacently disposed adjusting means 20 is used for actuating the pedal for the brake.
  • the adjusting means 30 serves to actuate the speed pedal.
  • the adjusting means 10, 20, 30 are connected to a notched receiving tube 210, whereby they are arranged adjacent spaced. The distance between two adjusting means depends on the distance between two associated adjacent pedals.
  • the adjusting device has two adjusting means 300, 310 for the actuation of a gear shift lever 440, wherein the mounting position of the adjusting means 300, 310 for adaptation to the respective position of the shift lever (not shown) by means of a respective notched gear receiving tube 400 and 410 is adjustable.
  • the adjusting means 300, 310 each have a clamping lever 420, 450, which ensure a rotationally fixed fixation of the adjusting means 300, 310.
  • the notched ear tube 210 is connected to a seat structure 200 which is used in a vehicle to be tested instead of a commercially available seat.
  • the seat structure 200 has in the area that is usually occupied by the driver of the vehicle, a control computer housing 230, which receives the control computer 240 (not shown) in its interior.
  • the control computer 240 provides all information or commands for the actuation of the actuating means used during a driving cycle or a functional test on the vehicle.
  • a support member 250 Connected to the seat structure 200 is a support member 250 whose free end communicates with the dashboard (not shown) of the vehicle.
  • a present actuator for a vehicle 500 will now be described, with the components of the interior of the vehicle 500 shown merely schematically.
  • a steering wheel 540 is mounted on a dashboard 530 of the vehicle 500.
  • the seat structure 200 is fixed to a seat 520 on the driver side of the vehicle 500. Adjacent to the driver's seat 520 is the passenger's seat 510, the two seats being separated by a center console 550.
  • FIG. 14 shows a perspective view of a section of the interior of the vehicle 500, wherein the present Actuator is located in an insertion or removal configuration.
  • the actuating rods of the individual actuating means are displaced rearwardly upwards (toward the seat) so that they are not in the area of the pedals (not shown) after the seat construction 200 has been inserted on the driver's seat 520 whereby the insertion of the seat structure 200 is substantially simplified.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)

Abstract

L'invention concerne un dispositif de positionnement pour un robot de translation, qui réduit les moyens mis en œuvre pour le réglage ou pour l'apprentissage du/des moyens de positionnement. En outre, les moyens engagés pour la détermination de la force exercée sur la pédale peuvent être réduits. Le dispositif de positionnement présente au moins un moyen de positionnement 10, 20, 30, 300, 310, qui comprend au moins une barre d'actionnement 25, laquelle présente une zone d'actionneur 50 et un élément de contact, l'élément de contact pouvant être amené en liaison avec une pédale et la barre d'actionnement 25 étant dans la zone d'actionneur 50 un composant symétrique en rotation, qui est réceptionné de façon coulissante dans la zone d'actionneur 50 dans un boîtier d'actionneur 60. La barre d'actionnement 25 contient dans la zone d'actionneur 50 un premier élément 80 et le boîtier d'actionneur 60 présente un second élément 70, qui est prévu dans une zone périphérique extérieure du premier élément 80, le premier élément 80 et le second élément 70 formant un moyen de production de force électromagnétique pour le déplacement de la barre d'actionnement 25.
PCT/EP2010/007535 2009-12-11 2010-12-10 Dispositif de positionnement pour un robot de translation Ceased WO2011069669A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP10790621.6A EP2510327B1 (fr) 2009-12-11 2010-12-10 Dispositif de positionnement pour un robot conducteur
US13/511,440 US20130002050A1 (en) 2009-12-11 2010-12-10 Actuating device for a robot driver
CN201080056284.6A CN103109171B (zh) 2009-12-11 2010-12-10 具有致动装置的驾驶机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009054575.1 2009-12-11
DE102009054575.1A DE102009054575B4 (de) 2009-12-11 2009-12-11 Stellvorrichtung für einen Fahrroboter

Publications (2)

Publication Number Publication Date
WO2011069669A2 true WO2011069669A2 (fr) 2011-06-16
WO2011069669A3 WO2011069669A3 (fr) 2013-04-11

Family

ID=43984031

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/007535 Ceased WO2011069669A2 (fr) 2009-12-11 2010-12-10 Dispositif de positionnement pour un robot de translation

Country Status (5)

Country Link
US (1) US20130002050A1 (fr)
EP (1) EP2510327B1 (fr)
CN (1) CN103109171B (fr)
DE (1) DE102009054575B4 (fr)
WO (1) WO2011069669A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102384850A (zh) * 2011-09-07 2012-03-21 中国汽车技术研究中心 一种汽车试验用换挡机械手
CN102393308A (zh) * 2011-09-07 2012-03-28 中国汽车技术研究中心 用于汽车试验的驾驶机器人
EP2902284A1 (fr) 2014-01-29 2015-08-05 Stähle, Kurt Dispositif de connexion

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CN102384851A (zh) * 2011-09-07 2012-03-21 中国汽车技术研究中心 滑轮钢丝式汽车试验驾驶机械腿执行机构
US8944224B2 (en) * 2012-05-08 2015-02-03 Bao-Ching Hsieh Maintenance auxiliary tool of brake system
US10703352B2 (en) * 2014-05-23 2020-07-07 Gilbert McNeil, SR. Brake bleeding apparatus
WO2016115161A1 (fr) * 2015-01-12 2016-07-21 Decandia Douglas H Système de transfert d'énergie mécanique
IT201900006668A1 (it) * 2019-05-09 2020-11-09 Gimatic S R L Pinza per manipolatori industriali dotata di sensore e metodo per rilevare la presenza di un pezzo tra le griffe di una pinza per manipolatori industriali
CN110126796A (zh) * 2019-05-29 2019-08-16 深圳市引想力科技有限公司 一种汽车自动刹车执行器

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102384850A (zh) * 2011-09-07 2012-03-21 中国汽车技术研究中心 一种汽车试验用换挡机械手
CN102393308A (zh) * 2011-09-07 2012-03-28 中国汽车技术研究中心 用于汽车试验的驾驶机器人
CN102393308B (zh) * 2011-09-07 2013-12-25 中国汽车技术研究中心 用于汽车试验的驾驶机器人
CN102384850B (zh) * 2011-09-07 2013-12-25 中国汽车技术研究中心 一种汽车试验用换挡机械手
EP2902284A1 (fr) 2014-01-29 2015-08-05 Stähle, Kurt Dispositif de connexion

Also Published As

Publication number Publication date
DE102009054575B4 (de) 2020-03-12
CN103109171B (zh) 2016-09-14
DE102009054575A1 (de) 2011-06-16
WO2011069669A3 (fr) 2013-04-11
CN103109171A (zh) 2013-05-15
US20130002050A1 (en) 2013-01-03
EP2510327A2 (fr) 2012-10-17
EP2510327B1 (fr) 2017-08-09

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