A Tractor Driving Robot Based on Force/Position Hybrid Control

Abstract

The invention discloses a force / position hybrid control-based tractor driving robot and belongs to the tractor automatic driving device technical field. The robot comprises a base, an accelerator mechanical leg, a brake mechanical leg, a clutch mechanical leg, a gear shifting mechanical hand and a steering mechanical hand. The tractor driving robot of the invention can be nondestructively installed on tractors of various kinds of models. According to the force / position hybrid control-based tractor driving robot, a force / position hybrid control method is adopted to control the gear shift levers, accelerator pedals, clutch pedals, brake pedals and steering wheels of the tractors. The force / position hybrid control-based tractor driving robot can replace a driver to complete driving operation on the tractors.

Description

technical field [0001] The invention relates to a robot, in particular to a tractor driving robot based on force / position hybrid control, and belongs to the technical field of tractor automatic driving devices. Background technique [0002] The tractor driving robot refers to an industrial robot that does not need to be modified on the tractor, can be installed in the cab without damage, can be easily installed and disassembled, and is suitable for various types of tractors. The use of tractor-driving robots for tractor tests and field operations can reduce human labor intensity, improve tractor operating efficiency, and provide new methods and new ways for the development of modern agriculture. In addition, the smart tractor considers the tractor as a whole, refits and redesigns the tractor as a mobile robot, and modifies or redesigns the tractor's operating mechanism and even the power system. Once any part of the tractor is damaged, It is impossible to continue working. ...

AI Technical Summary

Problems solved by technology

Chinese patent 200410065844.0 "Pneumatic-electric hybrid driving robot for automobile test" uses a cylinder with a lock to drive the shifting manipulator, brake mechanical leg and clutch mechanical leg of the driving robot, but its mechanism is complicated, and it is difficult to realize trajectory control and multi-point accurate positioning , it is difficult to obtain the air source in the real vehicle automatic driving test

Chinese patent 200410065844.0 "Pneumatic-electric hybrid driving robot for automobile test" uses a rotating stepping motor and transmits torque through a reduction gear to drive the throttle mechanical leg of the driving robot, but this structure requires relatively high installation accuracy and complex structure

Chinese patent 201110264908.X "Pulley wire type car test driving robot" uses servo motor and reducer, drive rod, compression spring, steel wire rope, large pulley and small pulley to drive the car test driving robot, but this structure is too complicated and the positioning accuracy Low, the actuator must always be in working condition

U.S. Patent No. 5,372,035 "Robot for driving a car on a chassis dynamometer" utilizes a rotating DC servo motor and transmits torque through a ball screw to drive the shifting manipulator, throttle mechanical leg, brake mechanical leg and clutch mechanical leg of the driving robot, but Its structure is complex, the volume is large, the transmission efficiency is low, and the control accuracy is difficult to control

Images