An electric pedal with adjustable pedal angle and a vehicle

Abstract

The application discloses an electric pedal with adjustable pedal angle and a car, and belongs to the field of electric pedals. The electric pedal with adjustable pedal angle comprises a front mounting support, a rear mounting support, a driving motor, a four-bar linkage transmission mechanism and a pedal, two free ends of the four-bar linkage transmission mechanism are rotationally connected to the lower end surface of the pedal, and the electric pedal further comprises an inclination sensor, a cantilever support and a pedal angle adjusting and positioning device. The inclination sensor is fixed to the lower end surface of the pedal, the cantilever support is arranged on the outer side wall of the free end of the four-bar linkage transmission mechanism, and the pedal angle adjusting and positioning device is fixed to the free end of the cantilever support. The output end of each pedal angle adjusting and positioning device is engaged with the corresponding mechanism of the lower end surface of the pedal, and the pedal can be rotationally inclined with the two free ends of the four-bar linkage transmission mechanism as the shaft. The inclination sensor and the driving motor are electrically connected to the pedal angle adjusting and positioning device. According to the application, the pedal angle is adjusted according to the inclination sensor, so that the pedal plane always keeps parallel to the horizontal plane, and the safety risk caused by falling down when stepping on the pedal is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile pedal, in particular to an electric pedal with adjustable pedal angle and automobile. BACKGROUND

[0002] The prior art electric pedal for mass production, as shown in the figure, the structure includes front mounting bracket 1', rear mounting bracket 2', drive motor 3', four-bar linkage transmission mechanism 4' and pedal 5', drive motor 3' is fixed on the front mounting bracket 1', one end of four-bar linkage transmission mechanism 4' is fixedly connected with the front mounting bracket 1' and the rear mounting bracket 2' respectively, and the free end of four-bar linkage mechanism 4' is fixed to the lower end surface of the pedal 5'; when the door is opened, the electric pedal will automatically extend until it reaches the limit position; when the door is closed, the electric pedal will automatically retract to the bottom of the car. Figure 1 The prior art has the following characteristics: 1. Single action: the opening process is from the initial state of the pedal to the fixed angle; the closing state is from the unfolded state to the initial state; 2. Fixed angle of unfolding: the opening and closing process is from one angle to another angle, and there are only two positions of the initial state and the terminal state.

[0003] The problem is that the pedal plane is generally parallel to the floor plane after extending from the door sill, and there is only one angle, that is, the pedal plane is perpendicular to the door; when the car stops on an uneven section of the road, the car body is inclined with one side high and the other side low, and the pedal of the high side of the car body has an upward inclined angle with the horizontal plane; at this time, if the pedal is still popped out at the original fixed angle, the pedal will still maintain the perpendicular state with the door, and the extended pedal will have an upward inclined angle with the horizontal plane; when the passenger steps on the pedal with an upward inclined angle, the gap between the pedal and the horizontal ground will increase, and the passenger will be inconvenient when stepping on the pedal, and the passenger will fall and cause safety risks in the area with a large inclined angle between the road surface and the horizontal plane. SUMMARY

[0004] To solve the above problems, the present application provides an electric pedal with adjustable pedal angle, which can adjust the pedal angle according to the inclination sensor carried on the pedal after the pedal plane is extended, so that the pedal plane always remains parallel to the horizontal plane, providing comfortable stepping support for passengers getting on and off the car, and reducing the safety risks caused by falling when stepping on the pedal.

[0005] The present application provides an electric pedal with adjustable pedal angle, which includes a front mounting bracket, a rear mounting bracket, a drive motor, a four-bar linkage transmission mechanism and a pedal, the drive motor is fixed on the front mounting bracket, one end of the four-bar linkage transmission mechanism is fixedly connected with the front mounting bracket and the rear mounting bracket respectively;

[0006] The two free ends of the four-bar linkage transmission mechanism are respectively rotatably connected to the lower end surface of the pedal;

[0007] Also includes the tilt sensor, two cantilever brackets and two pedal angle adjustment positioning device;

[0008] The tilt sensor is fixed to the lower end surface of the pedal, and the tilt sensor is also called inclinometer, inclinometer, level, inclinometer, which is often used for measuring the horizontal angle change of the system. Electronic level is a very accurate detection tool for measuring small angle. With it, the inclination of the measured plane relative to the horizontal position can be measured;

[0009] Two cantilever brackets are respectively and symmetrically arranged on the outer walls of the two free ends of the four-bar linkage transmission mechanism, and two pedal angle adjustment positioning devices are respectively fixed to the free ends of the two cantilever brackets, and each pedal angle adjustment positioning device is adjacent to the pedal directly below. The function of the two pedal angle adjustment positioning devices is to drive the pedal to rotate synchronously by a certain angle, so that the vehicle body can be tilted to the horizontal plane when the vehicle body is stopped, and the pedal can be adjusted to be parallel to the horizontal plane after being extended, so that passengers can safely and stably step on and off the vehicle. The two pedal angle adjustment positioning devices are arranged to make the pedal more stable after rotating by a certain angle, and to prevent the pedal from overturning when stepping on it, which may cause safety hazards;

[0010] The output end of each pedal angle adjustment positioning device can be engaged with the corresponding mechanism on the lower end surface of the pedal, and the pedal can be rotated synchronously with the two pedal angle adjustment positioning devices. The pedal can be rotated and tilted with the two free ends of the four-bar linkage transmission mechanism as the shaft.

[0011] The tilt sensor is electrically connected to the two pedal angle adjustment positioning devices, and the driving motor is electrically connected to the two pedal angle adjustment positioning devices. When the passenger needs to get off the vehicle before the door is opened, the tilt sensor measures the inclination between the pedal and the horizontal plane, and then sends the measurement data to the control chip on the two pedal angle adjustment positioning devices. The control chip sends a driving instruction to the two pedal angle adjustment positioning devices to synchronously drive the pedal to rotate, so that the pedal finally remains parallel to the horizontal plane, facilitating the passenger to open the door and get on and off the vehicle.

[0012] The pedal includes a pedal body and two pedal linkage shafts which are the same structure. The two pedal linkage shafts are respectively and symmetrically fixed to the lower end surface of the pedal body. The pedal linkage shaft is a cylindrical body with an open end. The circumferential side wall of the open end of the cylindrical body is provided with linkage shaft engagement teeth. The linkage shaft engagement teeth can be coaxially engaged with the corresponding pedal angle adjustment positioning device, and the pedal body can be rotated and tilted synchronously by the pedal angle adjustment positioning device.

[0013] Each pedal angle adjustment positioning device includes a translation, extension and rotation mechanism. The rear end of the translation, extension and rotation mechanism is fixed to the free end of the corresponding cantilever bracket. The front end of the translation, extension and rotation mechanism is provided with a rotation engagement tooth. The rotation engagement tooth can be translated, extended and engaged with the linkage shaft engagement tooth.

[0014] Each pedal angle adjustment positioning device further comprises a rotation-stopping shaft and at least two sets of linkage shaft rotation-stopping assemblies; the rear end of the rotation-stopping shaft is fixed on the front end surface of the center of the rotation meshing teeth, and the at least two sets of linkage shaft rotation-stopping assemblies are hinged between the rotation-stopping shaft; each set of linkage shaft rotation-stopping assemblies can be synchronously displaced up and down in the radial direction of the rotation-stopping shaft when the rotation-stopping shaft is displaced forward and backward; each pedal linkage shaft further comprises a friction convex ring arranged circumferentially on the middle part of the inner side wall of the cylindrical body and a linkage shaft rotation-stopping assembly limiting sliding disc fixedly arranged circumferentially on the inner side wall of the cylindrical body between the friction convex ring and the opening of the cylindrical body; the upper end surface of each set of linkage shaft rotation-stopping assemblies can be frictionally fixed with the inner wall of the friction convex ring, and one side of the upper end of each set of linkage shaft rotation-stopping assemblies is radially slidably connected with the linkage shaft rotation-stopping assembly limiting sliding disc; the rotation-stopping shaft is slidably sleeved in the center of the linkage shaft rotation-stopping assembly limiting sliding disc; each set of linkage shaft rotation-stopping assemblies comprises a rotation-stopping friction plate and at least one pair of connecting rods, each pair of connecting rods is arranged on the front and rear ends of the rotation-stopping friction plate and the opposite side wall of the rotation-stopping shaft, and the two ends of each connecting rod are rotationally hinged with the rotation-stopping friction plate and the side wall of the rotation-stopping shaft, respectively; the rear end of the rotation-stopping friction plate is slidably connected to the linkage shaft rotation-stopping assembly limiting sliding disc, and the rear end of the rotation-stopping friction plate can be slid up and down in the radial direction of the corresponding position of the linkage shaft rotation-stopping assembly limiting sliding disc; when the passenger in the inclined parking vehicle opens the door, the electric pedal first extends as in the prior art, and the rotation meshing teeth at the front end of the translation telescopic rotating mechanism begin to prepare to elongate forward; at this time, each rotation-stopping friction plate is in a frictionally fixed state with the inner wall of the friction convex ring, and the pedal body cannot rotate relative to the pedal angle adjustment positioning device; when the rotation meshing teeth at the front end of the translation telescopic rotating mechanism begin to elongate forward until the linkage shaft meshing teeth are engaged, the rotation-stopping shaft is sleeved in the center of the linkage shaft rotation-stopping assembly limiting sliding disc and is translated forward, the rotation-stopping friction plate hinged with the rotation-stopping shaft and slidably connected to the linkage shaft rotation-stopping assembly limiting sliding disc at the rear end is gradually released from the frictionally fixed state with the inner wall of the friction convex ring, and the rotation-stopping friction plate is vertically lowered under the driving of the at least one pair of connecting rods until it is close to the suspension above the side wall of the rotation-stopping shaft, and then the engaged rotation meshing teeth and the linkage shaft meshing teeth are synchronously rotated to drive the pedal body to rotate until the inclinometer measures the angle between the horizontal plane to be zero to stop rotating, at which time the plane of the pedal body is parallel to the horizontal plane; the inclinometer sends parameters to the pedal controller of the pedal angle adjustment positioning device, the pedal controller sends instructions to the pedal angle adjustment positioning device, the rotation meshing teeth at the front end of the translation telescopic rotating mechanism begin to retract backward until they return to the initial position, synchronously, the rotation-stopping shaft is sleeved in the center of the linkage shaft rotation-stopping assembly limiting sliding disc and is retracted backward, the rotation-stopping friction plate hinged with the rotation-stopping shaft through the connecting rods and slidably connected to the linkage shaft rotation-stopping assembly limiting sliding disc at the rear end is gradually translated upward until it is in a frictionally fixed state with the inner wall of the friction convex ring, at which time the posture rotation adjustment and limiting fixation of the pedal body relative to the inclination of the vehicle body are completed, and the passenger can step on the pedal body to get off the vehicle.

[0015] The linkage shaft rotation-stopping assembly limiting sliding disc is composed of a circular sheet, the outer edge of which is fixed to the inner side wall of the pedal linkage shaft, and a through hole is arranged at the center of the circular sheet, in which a rotation-stopping shaft is slidingly sleeved; the circular sheet is circumferentially provided with a number of rectangular sliding slot holes matched with the number of rotation-stopping friction sheets, and the rear end of each rotation-stopping friction sheet is limited to slide in the corresponding rectangular sliding slot hole, and the rear end of the rotation-stopping friction sheet moves up and down in a direction, and a four-bar linkage mechanism composed of the rotation-stopping shaft, the rotation-stopping friction sheet and at least one pair of connecting rods makes the rotation-stopping friction sheet rise along the radial direction to frictionally lock the pedal linkage shaft or descend along the radial direction to release the friction locking of the pedal linkage shaft.

[0016] The inner side wall of the friction convex ring and the outer surface of each rotation-stopping friction sheet are circumferentially provided with friction lines, so that they can be fixed more tightly when they touch each other.

[0017] Each cantilever support is composed of an L-shaped sheet, the long arm end of which is correspondingly fixed to the outer side wall of the free end of the four-bar linkage transmission mechanism, and the translational telescopic rotating mechanism is fixed to the short arm end of the L-shaped sheet, and the left and right translational telescopic rotating mechanisms are located directly below the corresponding positions of the pedal body.

[0018] The translational telescopic rotating mechanism is a rotary propeller (application number 201811262406.1), the distal end of which is fixed to the short arm end of the corresponding L-shaped sheet, and the telescopic end of the rotary propeller is provided with a rotary engagement tooth, the rear end of the rotation-stopping shaft is fixed to the front end face at the center of the rotary engagement tooth, and the rotary propeller includes a pedal controller, which is electrically connected with the inclination sensor and the driving motor, respectively, receives the data of the inclination sensor, and then sends instructions to the rotary propeller, the telescopic rod of the rotary propeller is elongated forward, the rotary engagement tooth at the front end thereof is in engagement with the engagement tooth of the linkage shaft after touching, and then transmits the drive to rotate the pedal body by a certain angle to incline, so that the pedal body remains parallel to the horizontal plane after being rotated and inclined.

[0019] The translation mechanism comprises a linear motor, a reversible motor and a pedal controller, the end of the linear motor and the pedal controller are fixed on the short arm of the corresponding L-shaped sheet, the telescopic rod of the linear motor is fixed on the rear end face of the reversible motor, the linear motor can control the forward and backward displacement of the reversible motor, the output shaft of the reversible motor is fixed with a rotating meshing tooth at the front end, the rear end of the rotation shaft is fixed on the front end face of the center of the rotating meshing tooth, the reversible motor can drive the rotating meshing tooth and the linkage shaft meshing tooth to rotate; the pedal controller is electrically connected with the linear motor, the reversible motor, the inclination sensor and the driving motor; when the passenger in the inclined parking vehicle opens the door, the door controller sends a signal to the pedal controller, the pedal controller drives the driving motor to operate, the electric pedal is first extended as in the prior art, the rotating meshing tooth at the front end of the reversible motor starts to prepare to stretch forward, at this time, each rotation friction plate is in a friction fixing state with the inner wall of the friction convex ring, the pedal body cannot rotate relative to the pedal angle adjusting positioning device; when the telescopic rod of the linear motor drives the rotating meshing tooth at the front end of the reversible motor to start to stretch forward until it is engaged with the linkage shaft meshing tooth, the rotation shaft is sleeved on the center of the linkage shaft rotation assembly limiting sliding disc and translates forward, the rotation friction plate hinged with the rotation shaft and slidingly connected with the linkage shaft rotation assembly limiting sliding disc at the rear end is gradually released from the friction fixing state with the inner wall of the friction convex ring, the rotation friction plate is vertically lowered under the driving of at least one pair of connecting rods, and then the reversible motor output shaft rotates to drive the rotating meshing tooth and the linkage shaft meshing tooth to rotate synchronously, thereby driving the pedal body to rotate, until the inclination sensor measures the angle with the horizontal plane to be zero and stops rotating, at this time, the pedal body plane is parallel to the horizontal plane; the inclination sensor sends parameters to the pedal controller of the translation mechanism, the pedal controller sends a retracting instruction to the linear motor, the reversible motor drives the rotating meshing tooth at the front end to start to retract backward until it returns to the initial position, synchronously, the rotation shaft is sleeved on the center of the linkage shaft rotation assembly limiting sliding disc and retracts backward, the rotation friction plate hinged with the rotation shaft and slidingly connected with the linkage shaft rotation assembly limiting sliding disc at the rear end is gradually translated upward until it is in a friction fixing state with the inner wall of the friction convex ring, at this time, the posture rotation adjustment and limiting fixation of the pedal body relative to the inclination state of the vehicle body are completed, and the passenger can step on the pedal body to get off the vehicle.

[0020] A car comprises a vehicle body sheet metal and a door controller, and further comprises two adjustable pedal angle electric pedals, the two adjustable pedal angle electric pedals are respectively fixedly connected to the left and right sides of the lower bottom surface sheet metal of the vehicle body sheet metal; the door controller is electrically connected with the pedal controller to respectively realize the synchronous control of the electric pedal extension when opening and closing the door, the automatic adjustment of the pedal body angle according to the environmental state, or the action of the electric pedal retraction.

[0021] Advantages

[0022] The electric pedal plane of the present application can be adjusted according to the inclination sensor carried on the pedal after the pedal plane is extended, so that the pedal plane always keeps parallel to the horizontal plane, providing comfortable stepping support for passengers getting on and off the vehicle and reducing the safety risk caused by falling down when stepping on the pedal. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the structure of the prior art electric pedal.

[0024] Figure 2 is a schematic diagram of the overall structure of the present application.

[0025] Figure 3 is a schematic diagram of the initial state cross-sectional structure of the pedal linkage shaft and pedal angle adjustment positioning device of the present application.

[0026] Figure 4 is a schematic diagram of the engaged state cross-sectional structure of the pedal linkage shaft and pedal angle adjustment positioning device of the present application.

[0027] Figure 5 is a schematic diagram of the enlarged structure of the local cross-section of the pedal linkage shaft of the present application.

[0028] Figure 6 is a schematic diagram of the initial state cross-sectional structure of the pedal linkage shaft and pedal angle adjustment positioning device of another embodiment of the present application.

[0029] Figure 7 is a schematic diagram of the initial state cross-sectional structure of the pedal linkage shaft and pedal angle adjustment positioning device of another embodiment of the present application.

[0030] Figure 8 is a schematic diagram of the working principle structure of the electric pedal of the present application.

[0031] In the figure:

[0032] 1', front mounting bracket; 2', rear mounting bracket; 3', driving motor; 4', four-bar linkage transmission mechanism; 5', pedal;

[0033] 1, front mounting bracket;

[0034] 2, rear mounting bracket;

[0035] 3, driving motor;

[0036] 4, four-bar linkage transmission mechanism;

[0037] 5, pedal; 5.1, pedal body; 5.2, pedal linkage shaft; 5.2.1, linkage shaft engagement teeth; 5.2.2, friction convex ring; 5.2.3, linkage shaft rotation-stopping component limiting sliding disc; 5.2.3.1, through hole; 5.2.3.2, rectangular sliding slot hole;

[0038] 6. Inclination sensor;

[0039] 7. Cantilever support; 7.1, long arm end; 7.2, short arm end;

[0040] 8. Pedal angle adjustment positioning device; 8.1, translational telescopic rotating mechanism; 8.1.1, rotating meshing tooth; 8.1.2, linear motor; 8.1.3, forward and reverse motor; 8.2, rotation-stopping shaft; 8.3, linkage shaft rotation-stopping assembly; 8.3.1, rotation-stopping friction plate; 8.3.2, connecting rod. DETAILED DESCRIPTION

[0041] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present application will be further described below in conjunction with the accompanying drawings and through specific embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all.

[0042] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0043] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, it can be fixed connection, or it can be detachable connection; it can be mechanical connection, or it can be electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] Example 1

[0045] Referring to Figures 2-4 As shown in the drawings, an adjustable pedal angle electric pedal includes a front mounting bracket 1, a rear mounting bracket 2, a driving motor 3, a four-bar linkage transmission mechanism 4 and a pedal 5, the driving motor 3 is fixed on the front mounting bracket 1, one end of the four-bar linkage transmission mechanism 4 is fixedly connected with the front mounting bracket 1 and the rear mounting bracket 2 respectively;

[0046] Two free ends of the four-bar linkage transmission mechanism 4 are respectively connected to the lower end surface of the pedal 5;

[0047] It also includes an inclination sensor 6, two cantilever supports 7 and two pedal angle adjusting positioning devices 8;

[0048] The inclination sensor 6 is fixed to the lower end surface of the pedal 5;

[0049] The two cantilever supports 7 are respectively and symmetrically arranged horizontally on the outer side walls of the two free ends of the four-bar linkage transmission mechanism 4, and the two pedal angle adjusting positioning devices 8 are respectively fixed to the free ends of the two cantilever supports 7, and each pedal angle adjusting positioning device 8 is adjacent to the pedal 5 directly below.

[0050] The output end of each pedal angle adjusting positioning device 8 can be engaged with the corresponding mechanism of the lower end surface of the pedal 5, the pedal 5 can be rotated synchronously with the two pedal angle adjusting positioning devices 8, and the pedal 5 can be rotated and tilted with the two free ends of the four-bar linkage transmission mechanism 4 as the shaft.

[0051] The inclination sensor 6 is electrically connected to the two pedal angle adjusting positioning devices 8, and the driving motor 3 is electrically connected to the two pedal angle adjusting positioning devices 8.

[0052] The pedal 5 includes a pedal body 5.1 and two pedal linkage shafts 5.2 which are structurally identical, and the two pedal linkage shafts 5.2 are respectively and symmetrically fixed horizontally to the lower end surface of the pedal body 5.1 on both sides, the pedal linkage shaft 5.2 is a whole open-ended cylindrical body, and the circumferential side wall of the open end of the cylindrical body is provided with linkage shaft engagement teeth 5.2.1, which can be coaxially engaged with the corresponding pedal angle adjusting positioning device 8 and synchronously drive the pedal body 5.1 to rotate and tilt through the pedal angle adjusting positioning device 8.

[0053] Each pedal angle adjusting positioning device 8 includes a translation telescopic rotating mechanism 8.1, the rear end of which is fixed to the free end of the corresponding cantilever support 7, and the front end is provided with rotating engagement teeth 8.1.1 which can be telescopically engaged with the linkage shaft engagement teeth 5.2.1.

[0054] Each cantilever support 7 is composed of an L-shaped sheet, the long arm end 7.1 of which is fixed to the outer side wall of the free end of the four-bar linkage transmission mechanism 4, and the translation telescopic rotating mechanism 8.1 is fixed to the short arm end 7.2 of the L-shaped sheet, and the left and right translation telescopic rotating mechanisms 8.1 are located directly below the corresponding position of the pedal body 5.1.

[0055] The translation telescopic rotating mechanism 8.1 is a rotating propeller, which only needs one motor drive to complete the two tasks of forward propulsion and rotation. The rotating propeller is fixed to the short arm end 7.2 of the corresponding L-shaped sheet, and the telescopic end of the rotating propeller is provided with a rotating meshing tooth 8.1.1. The rotating propeller includes a pedal controller, which is electrically connected with the inclination sensor 6 and the driving motor 3 respectively. After the rotating propeller completes rotation, it synchronously drives the pedal body to rotate 45° to realize that the pedal body is parallel to the horizontal ground. The meshing of the rotating meshing tooth 8.1.1 and the linkage shaft meshing tooth 5.2.1 can ensure that the pedal body is positioned stably after rotation and will not rotate randomly.

[0056] Embodiment 2

[0057] Referring to Figures 2-6 The adjustable pedal angle electric pedal includes a front mounting bracket 1, a rear mounting bracket 2, a driving motor 3, a four-bar linkage transmission mechanism 4, and a pedal 5. The driving motor 3 is fixed to the front mounting bracket 1. One end of the four-bar linkage transmission mechanism 4 is fixedly connected with the front mounting bracket 1 and the rear mounting bracket 2 respectively.

[0058] Two free ends of the four-bar linkage transmission mechanism 4 are respectively rotationally connected to the lower end surface of the pedal 5.

[0059] The adjustable pedal angle electric pedal further includes an inclination sensor 6, two cantilever brackets 7, and two pedal angle adjusting and positioning devices 8.

[0060] The inclination sensor 6 is fixed to the lower end surface of the pedal 5.

[0061] The two cantilever brackets 7 are symmetrically and horizontally arranged on the outer side walls of the two free ends of the four-bar linkage transmission mechanism 4. The two pedal angle adjusting and positioning devices 8 are respectively fixed to the free ends of the two cantilever brackets 7, and each pedal angle adjusting and positioning device 8 is adjacent to the pedal 5 directly below.

[0062] The output end of each pedal angle adjusting and positioning device 8 can be meshed with the corresponding mechanism of the lower end surface of the pedal 5. The pedal 5 can be synchronously rotated with the two pedal angle adjusting and positioning devices 8. The pedal 5 can be rotationally inclined with the two free ends of the four-bar linkage transmission mechanism 4 as the shaft.

[0063] The inclination sensor 6 is electrically connected with the two pedal angle adjusting and positioning devices 8. The driving motor 3 is electrically connected with the two pedal angle adjusting and positioning devices 8.

[0064] The pedal 5 comprises a pedal body 5.1 and two pedal linkage shafts 5.2 which are symmetrically fixed to the lower end surface of the pedal body 5.1, the pedal linkage shaft 5.2 is a cylindrical body with an open end, and the circumferential side wall of the open end of the cylindrical body is provided with linkage shaft engagement teeth 5.2.1 which can be coaxially engaged with the corresponding pedal angle adjusting positioning device 8, and the pedal body 5.1 can be rotated and tilted by 30° through the pedal angle adjusting positioning device 8.

[0065] Each pedal angle adjusting positioning device 8 comprises a translation telescopic rotating mechanism 8.1 which is fixed to the free end of the corresponding cantilever support 7, and the front end of the translation telescopic rotating mechanism 8.1 is provided with rotating engagement teeth 8.1.1 which can be telescopically translated and engaged with the linkage shaft engagement teeth 5.2.1.

[0066] Each pedal angle adjusting positioning device 8 further comprises a rotation stopping shaft 8.2 and four sets of linkage shaft rotation stopping assemblies 8.3, the rotation stopping shaft 8.2 is fixed to the front end surface of the center of the rotating engagement teeth 8.1.1, and the four sets of linkage shaft rotation stopping assemblies 8.3 are hingedly connected between the rotation stopping shaft 8.2, each set of linkage shaft rotation stopping assemblies 8.3 can be synchronously displaced radially up and down on the rotation stopping shaft 8.2 when the rotation stopping shaft 8.2 is telescopically displaced forward and backward, each pedal linkage shaft 5.2 further comprises a friction convex ring 5.2.2 which is circumferentially arranged on the inner side wall of the cylindrical body, and a linkage shaft rotation stopping assembly limiting sliding disc 5.2.3 which is fixedly arranged on the circumferential inner side wall of the cylindrical body between the friction convex ring 5.2.2 and the opening of the cylindrical body, the upper end surface of each set of linkage shaft rotation stopping assemblies 8.3 can be frictionally fixed to the inner wall of the friction convex ring 5.2.2, and one side of the upper end of each set of linkage shaft rotation stopping assemblies 8.3 is radially slidably connected with the linkage shaft rotation stopping assembly limiting sliding disc 5.2.3, the rotation stopping shaft 8.2 is slidably sleeved in the center of the linkage shaft rotation stopping assembly limiting sliding disc 5.2.3, each set of linkage shaft rotation stopping assemblies 8.3 comprises a rotation stopping friction plate 8.3.1 and two pairs of connecting rods 8.3.2, each pair of connecting rods 8.3.2 is arranged on the front and rear ends of the rotation stopping friction plate 8.3.1 and the sidewall of the corresponding rotation stopping shaft 8.2, and the two ends of each connecting rod are rotationally hingedly connected with the rotation stopping friction plate 8.3.1 and the sidewall of the rotation stopping shaft 8.2, the rear end of the rotation stopping friction plate 8.3.1 is slidably connected to the linkage shaft rotation stopping assembly limiting sliding disc 5.2.3, and the rear end of the rotation stopping friction plate 8.3.1 can be slid up and down along the corresponding position of the linkage shaft rotation stopping assembly limiting sliding disc 5.2.3.

[0067] The linkage shaft rotation-stopping assembly limiting sliding disc 5.2.3 is composed of a circular sheet, the outer edge of the circular sheet is fixed to the inner side wall of the pedal linkage shaft 5.2, a through hole 5.2.3.1 is arranged at the center of the circular sheet, and the rotation-stopping shaft 8.2 is slidably sleeved in the through hole 5.2.3.1; the circular sheet is circumferentially provided with a plurality of rectangular sliding groove holes 5.2.3.2 matched with the number of the rotation-stopping friction plates 8.3.1, and each rear end of the rotation-stopping friction plates 8.3.1 is limitingly and slidably arranged in the corresponding rectangular sliding groove hole 5.2.3.2.

[0068] Friction lines are arranged on the inner side wall of the friction convex ring 5.2.2 and the outer surface of each rotation-stopping friction plate 8.3.1.

[0069] Each cantilever support 7 is composed of an L-shaped sheet, the long arm end 7.1 of the L-shaped sheet is correspondingly fixed to the outer side wall of the free end of the four-bar linkage transmission mechanism 4, and the translation telescopic rotating mechanism 8.1 is fixed to the short arm end 7.2 of the L-shaped sheet; the left and right translation telescopic rotating mechanisms 8.1 are located directly below the corresponding positions of the pedal body 5.1.

[0070] The translation telescopic rotating mechanism 8.1 is a rotating propeller of Chinese Patent Application No. 201811262406.1, the end of the rotating propeller is fixed to the short arm end 7.2 of the corresponding L-shaped sheet, the telescopic end of the rotating propeller is provided with a rotating meshing tooth 8.1.1, the rear end of the rotation-stopping shaft 8.2 is fixed to the front end face at the center of the rotating meshing tooth 8.1.1, and the rotating propeller comprises a pedal controller, which is electrically connected with the inclination sensor 6 and the driving motor 3 respectively.

[0071] Embodiment 3

[0072] Referring to Figures 5-7 As shown in the figure, an electric pedal with adjustable pedal angle comprises a front mounting bracket 1, a rear mounting bracket 2, a driving motor 3, a four-bar linkage transmission mechanism 4 and a pedal 5, the driving motor 3 is fixed to the front mounting bracket 1, one end of the four-bar linkage transmission mechanism 4 is fixedly connected with the front mounting bracket 1 and the rear mounting bracket 2 respectively;

[0073] The two free ends of the four-bar linkage transmission mechanism 4 are rotationally connected to the lower end face of the pedal 5 respectively;

[0074] Further comprising an inclination sensor 6, two cantilever supports 7 and two pedal angle adjusting and positioning devices 8;

[0075] The inclination sensor 6 is fixed to the lower end face of the pedal 5;

[0076] The two cantilever supports 7 are symmetrically arranged horizontally on the outer side walls of the two free ends of the four-bar linkage transmission mechanism 4 respectively, the two pedal angle adjusting and positioning devices 8 are fixed to the free ends of the two cantilever supports 7 respectively, and each pedal angle adjusting and positioning device 8 is adjacent to the pedal 5 directly below;

[0077] The output end of each pedal angle adjustment and positioning device 8 can engage with the corresponding mechanism at the lower end of the pedal 5. The pedal 5 can rotate synchronously with the two pedal angle adjustment and positioning devices 8. The pedal 5 can rotate and tilt with the two free ends of the four-bar linkage 4 as the axis.

[0078] The tilt sensor 6 is electrically connected to the two pedal angle adjustment and positioning devices 8, and the drive motor 3 is electrically connected to the two pedal angle adjustment and positioning devices 8.

[0079] The pedal 5 includes a pedal body 5.1 and two identical pedal linkage shafts 5.2. The two pedal linkage shafts 5.2 are horizontally and symmetrically fixed on both sides of the lower end face of the pedal body 5.1. The pedal linkage shaft 5.2 is a cylindrical body with one open end. The circumferential side wall of the open end of the cylindrical body is provided with linkage shaft meshing teeth 5.2.1. The linkage shaft meshing teeth 5.2.1 can coaxially mesh with the corresponding pedal angle adjustment and positioning device 8, and synchronously drive the pedal body 5.1 to rotate and tilt by 10° through the rotation of the pedal angle adjustment and positioning device 8.

[0080] Each pedal angle adjustment and positioning device 8 includes a translational telescopic rotation mechanism 8.1. The rear end of the translational telescopic rotation mechanism 8.1 is fixed to the free end of the corresponding cantilever bracket 7. The front end of the translational telescopic rotation mechanism 8.1 is provided with a rotating meshing tooth 8.1.1. The rotating meshing tooth 8.1.1 can translate and extend and mesh with the linkage shaft meshing tooth 5.2.1 for transmission.

[0081] Each pedal angle adjustment and positioning device 8 also includes an anti-rotation shaft 8.2 and four sets of linkage shaft anti-rotation assemblies 8.3; the rear end of the anti-rotation shaft 8.2 is fixed to the front end face of the center of the rotating meshing gear 8.1.1, and the four sets of linkage shaft anti-rotation assemblies 8.3 are hinged to the anti-rotation shaft 8.2. Each set of linkage shaft anti-rotation assemblies 8.3 can synchronously move up and down radially on the anti-rotation shaft 8.2 when the anti-rotation shaft 8.2 moves back and forth. Each pedal linkage shaft 5.2 also includes a friction convex ring 5.2.2 circumferentially disposed in the middle of the inner wall of the cylindrical body and a linkage shaft anti-rotation assembly limiting sliding disc 5.2.3 fixedly disposed in the inner wall of the cylindrical body between the friction convex ring 5.2.2 and the opening of the cylindrical body; the upper end face of each set of linkage shaft anti-rotation assemblies 8.3 can be rubbed and fixed against the inner wall of the friction convex ring 5.2.2, and each set of linkage shaft anti-rotation assemblies 8.3 can be fixed in the same direction. One side of the upper end of the rotating assembly 8.3 is radially slidably fitted with the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly; the anti-rotation shaft 8.2 is slidably sleeved on the center of the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly. Each set of linkage shaft anti-rotation assemblies 8.3 includes an anti-rotation friction plate 8.3.1 and two pairs of connecting rods 8.3.2. Each pair of connecting rods 8.3.2 is respectively set on the front and rear ends of the anti-rotation friction plate 8.3.1 and the side wall of the corresponding anti-rotation shaft 8.2, and the two ends of each connecting rod are respectively rotatably hinged to the side wall of the anti-rotation friction plate 8.3.1 and the side wall of the anti-rotation shaft 8.2. The rear end of the anti-rotation friction plate 8.3.1 is slidably connected to the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly, and the rear end of the anti-rotation friction plate 8.3.1 can slide radially up and down along the corresponding position of the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly.

[0082] The limiting sliding disc 5.2.3 of the linkage shaft anti-rotation assembly is made of a circular sheet. The outer edge of the circular sheet is fixed to the inner side wall of the pedal linkage shaft 5.2. A through hole 5.2.3.1 is provided at the center of the circular sheet, and the anti-rotation shaft 8.2 is slidably sleeved in the through hole 5.2.3.1. The circular sheet is provided with rectangular sliding groove holes 5.2.3.2 in the circumferential direction, matching the number of anti-rotation friction pieces 8.3.1. The rear end of each anti-rotation friction piece 8.3.1 is limited and slid in the corresponding rectangular sliding groove hole 5.2.3.2.

[0083] Friction grooves are provided on the circumferential inner wall of the friction ring 5.2.2 and on the outer surface of each anti-rotation friction pad 8.3.1.

[0084] Each cantilever bracket 7 is made of an L-shaped sheet. The long arm end 7.1 of the L-shaped sheet is fixed to the outer wall of the free end of the four-bar linkage 4. The translation, telescopic and rotating mechanism 8.1 is fixed to the short arm end 7.2 of the L-shaped sheet. The left and right translation, telescopic and rotating mechanisms 8.1 are located directly below the corresponding positions of the pedal body 5.1.

[0085] The translational telescopic rotation mechanism 8.1 includes a linear motor 8.1.2, a forward and reverse motor 8.1.3, and a pedal controller. The end of the linear motor 8.1.2 and the pedal controller are respectively fixed to the short arm end 7.2 of the corresponding L-shaped sheet. The telescopic rod end of the linear motor 8.1.2 is fixed to the rear end face of the forward and reverse motor 8.1.3. The front end of the output shaft of the forward and reverse motor 8.1.3 is fixed with a rotating meshing tooth 8.1.1, and the rear end of the anti-rotation shaft 8.2 is fixed to the front end face of the center of the rotating meshing tooth 8.1.1. The pedal controller is electrically connected to the linear motor 8.1.2, the forward and reverse motor 8.1.3, the tilt sensor 6, and the drive motor 3.

[0086] Example 4

[0087] See Figures 2-6 , Figure 8 As shown, an automobile includes a vehicle body sheet metal and a door controller, and also includes two electric pedals with adjustable pedal angles. The two electric pedals with adjustable pedal angles are respectively fixedly connected to the left and right sides of the lower bottom surface of the vehicle body sheet metal. The door controller and the pedal controller are electrically connected to realize the actions of simultaneously controlling the extension of the electric pedals when opening and closing the door, the automatic adjustment of the pedal body angle according to the environmental conditions, or the retraction of the electric pedals.

[0088] Working principle

[0089] See Figures 2-6 , Figure 8As shown, when a passenger in the tilted parking vehicle opens the door, the door controller sends a signal to the pedal controller. The pedal controller drives the drive motor 3 to operate. The electric pedal extends first, as in existing technology. At this time, the pedal body 5.1 has an upward tilt angle with the horizontal plane. The tilt sensor 6 on the lower surface of the pedal body 5.1 measures the initial angle value between it and the horizontal plane and sends it to the pedal controller of the pedal angle adjustment and positioning device 8. The pedal controller drives the pedal angle adjustment and positioning device 8 to start working. The rotating meshing teeth 8.1.1 at the front end of the translation telescopic rotation mechanism 8.1 begin to prepare to extend forward. At this time, each anti-rotation friction plate 8.3.1 is in a fixed state of friction with the inner wall of the friction convex ring 5.2.2. The pedal body 5.1 cannot be relative to the horizontal plane. The pedal angle adjustment and positioning device 8 rotates; when the rotating meshing tooth 8.1.1 at the front end of the translation telescopic rotation mechanism 8.1 begins to extend forward until it meshes with the meshing tooth 5.2.1 of the linkage shaft, at this time the anti-rotation shaft 8.2 is sleeved on the center of the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly and moves forward. At the same time, the anti-rotation friction plate 8.3.1, which is slidably connected to the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly at the rear end, gradually releases the friction fixation state with the inner wall of the friction convex ring 5.2.2. Under the drive of at least one pair of connecting rods 8.3.2 hinged together, the anti-rotation friction plate 8.3.1 moves vertically downward until it is close to the side wall of the anti-rotation shaft 8.2, releasing the positioning restriction of the pedal body by the pedal angle adjustment and positioning device 8;

[0090] Then the meshing rotating meshing teeth 8.1.1 and the linkage shaft meshing teeth 5.2.1 rotate synchronously in the forward direction, driving the pedal body 5.1 to rotate in the forward direction until the tilt angle sensor 6 measures that the angle with the horizontal plane is zero and stops rotating. At this time, the plane of the pedal body 5.1 is parallel to the horizontal plane, completing the tilt adjustment of the pedal body 5.1 by the pedal angle adjustment and positioning device 8.

[0091] The tilt sensor 6 sends parameters to the pedal controller of the pedal angle adjustment and positioning device 8, and the pedal controller sends a command to the pedal angle adjustment and positioning device 8. The rotating meshing teeth 8.1.1 at the front end of the translation telescopic rotation mechanism 8.1 begin to retract until they return to their initial position. Simultaneously, the anti-rotation shaft 8.2 is sleeved on the center of the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly and retracts backward. The anti-rotation friction plate 8.3.1, which is hinged to the anti-rotation shaft 8.2 through the connecting rod 8.3.2, and whose rear end is slidably connected to the limiting sliding disk 5.2.3 of the linkage shaft anti-rotation assembly, gradually moves upward until it is in a frictional fixed state with the inner wall of the friction convex ring 5.2.2. At this time, the positioning and restriction of the pedal body 5.1 by the pedal angle adjustment and positioning device 8 is completed, and the passenger can step on the pedal body 5.1 to get off the vehicle.

[0092] After passengers disembark and the doors are closed, in order to retract the electric pedal to the bottom of the vehicle, the rotating engagement tooth 8.1.1 at the front end of the translational telescopic rotating mechanism 8.1 begins to extend forward. At this time, each anti-rotation friction plate 8.3.1 is in a fixed state of friction with the inner wall of the friction convex ring 5.2.2, and the pedal body 5.1 cannot rotate relative to the pedal angle adjustment and positioning device 8. When the rotating engagement tooth 8.1.1 at the front end of the translational telescopic rotating mechanism 8.1 begins to extend forward until it engages with the engagement tooth 5.2.1 of the linkage shaft, the anti-rotation shaft 8... 2. The sliding disc 5.2.3 of the linkage shaft anti-rotation assembly is connected to the center and moves forward. It is hinged to the anti-rotation shaft 8.2. At the same time, the anti-rotation friction plate 8.3.1, which is slidably connected to the sliding disc 5.2.3 of the linkage shaft anti-rotation assembly at its rear end, gradually releases the friction fixation state with the inner wall of the friction convex ring 5.2.2. Under the drive of at least one pair of connecting rods 8.3.2 hinged, the anti-rotation friction plate 8.3.1 moves vertically downward until it is close to the side wall of the anti-rotation shaft 8.2, thus releasing the positioning restriction of the pedal body by the pedal angle adjustment and positioning device 8.

[0093] The meshing rotating meshing teeth 8.1.1 and the linkage shaft meshing teeth 5.2.1 rotate synchronously in reverse, driving the pedal body 5.1 to rotate in reverse until the angle measured by the tilt sensor 6 and the horizontal plane returns to the initial angle value and stops rotating. At this time, the plane of the pedal body 5.1 returns to the initial upward tilt state with respect to the horizontal plane. The pedal controller drives the drive motor 3 to rotate in reverse, and the electric pedal retracts to the bottom of the vehicle in the same way as existing technology, completing the pedal retraction after the passenger gets off the vehicle.

[0094] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. An electric pedal with adjustable pedal angle, comprising a front mounting bracket (1), a rear mounting bracket (2), a driving motor (3), a four-bar linkage transmission mechanism (4) and a pedal (5), the driving motor (3) being fixed to the front mounting bracket (1), the four-bar linkage transmission mechanism (4) having one end fixedly connected to the front mounting bracket (1) and the rear mounting bracket (2) respectively, characterized in that: the two free ends of the four-bar linkage transmission mechanism (4) are rotatably connected to the lower end surface of the pedal (5) respectively; further comprising an inclination sensor (6), two cantilever brackets (7) and two pedal angle adjusting and positioning devices (8); the inclination sensor (6) is fixed to the lower end surface of the pedal (5); the two cantilever brackets (7) are symmetrically arranged horizontally on the outer sidewalls of the two free ends of the four-bar linkage transmission mechanism (4) respectively, and the two pedal angle adjusting and positioning devices (8) are fixed to the free ends of the two cantilever brackets (7) respectively, with each pedal angle adjusting and positioning device (8) being adjacent to the pedal (5) directly below; the output end of each pedal angle adjusting and positioning device (8) is capable of engaging with the corresponding mechanism of the lower end surface of the pedal (5), the pedal (5) is capable of rotating synchronously with the two pedal angle adjusting and positioning devices (8), and the pedal (5) rotates and tilts with the two free ends of the four-bar linkage transmission mechanism (4) as the shaft; the inclination sensor (6) is electrically connected to the two pedal angle adjusting and positioning devices (8), and the driving motor (3) is electrically connected to the two pedal angle adjusting and positioning devices (8); the pedal (5) comprises a pedal body (5.1) and two pedal linkage shafts (5.2) of the same structure, the two pedal linkage shafts (5.2) are fixed symmetrically horizontally on the lower end surface of the pedal body (5.1) on both sides respectively, the pedal linkage shaft (5.2) is a whole open-ended cylindrical body, the circumferential sidewall of the open end of the cylindrical body is provided with a linkage shaft engagement tooth (5.2.1), the linkage shaft engagement tooth (5.2.1) is capable of coaxially engaging with the corresponding pedal angle adjusting and positioning device (8), and the pedal body (5.1) is rotated and tilted by the pedal angle adjusting and positioning device (8) rotating synchronously; each pedal angle adjusting and positioning device (8) comprises a translation telescopic rotating mechanism (8.1), the rear end of the translation telescopic rotating mechanism (8.1) is fixed to the free end of the corresponding cantilever bracket (7), the front end of the translation telescopic rotating mechanism (8.1) is provided with a rotating engagement tooth (8.1.1), the rotating engagement tooth (8.1.1) is capable of translating and telescoping and engaging with the linkage shaft engagement tooth (5.2.1) for transmission; each pedal angle adjusting and positioning device (8) further comprises a rotation-stopping shaft (8.2) and at least two groups of linkage shaft rotation-stopping assemblies (8.3); the rear end of the rotation-stopping shaft (8.2) is fixed to the rotating engagement tooth (8.1.1), and the linkage shaft rotation-stopping assemblies (8.3) are arranged on the rotation-stopping shaft (8.2) in a sleeving manner. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8.1.1)The front end surface of the center is hinged between at least two sets of linkage shaft rotation-stopping assemblies (8.3) and the rotation-stopping shaft (8.2), each set of linkage shaft rotation-stopping assemblies (8.3) can be synchronously displaced radially up and down on the rotation-stopping shaft (8.2) when the rotation-stopping shaft (8.2) is displaced forward and backward, each pedal linkage shaft (5.2) further comprises a friction convex ring (5.2.2) arranged circumferentially on the inner side wall of the cylindrical body and a linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3) fixedly arranged circumferentially on the inner side wall of the cylindrical body between the friction convex ring (5.2.2) and the opening of the cylindrical body; the upper end surface of each set of linkage shaft rotation-stopping assemblies (8.3) can be frictionally fixed with the inner wall of the friction convex ring (5.2.2), and one side of the upper end of each set of linkage shaft rotation-stopping assemblies (8.3) is radially slidably connected with the linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3); the rotation-stopping shaft (8.2) is slidably sleeved in the center of the linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3), each set of linkage shaft rotation-stopping assemblies (8.3) comprises a rotation-stopping friction plate (8.3.1) and at least one pair of connecting rods (8.3.2), each pair of connecting rods (8.3.2) is arranged on the rotation-stopping friction plate (8.3.1) at both ends and the opposite side wall of the rotation-stopping shaft (8.2), and both ends of each connecting rod are rotationally hinged with the rotation-stopping friction plate (8.3.1) and the side wall of the rotation-stopping shaft (8.2), respectively, the rear end of the rotation-stopping friction plate (8.3.1) is slidably connected to the linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3), and the rear end of the rotation-stopping friction plate (8.3.1) can be slid radially up and down along the corresponding position of the linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3).

2. The adjustable angle electric pedal according to claim 1, wherein: The linkage shaft rotation-stopping assembly limiting sliding disc (5.2.3) is composed of a circular sheet, the outer edge of the circular sheet is fixed to the inner side wall of the pedal linkage shaft (5.2), a through hole (5.2.3.1) is arranged at the center of the circular sheet, the rotation-stopping shaft (8.2) is slidably sleeved in the through hole (5.2.3.1), a plurality of rectangular sliding slot holes (5.2.3.2) are arranged circumferentially on the circular sheet, and the number of the rectangular sliding slot holes (5.2.3.2) matches the number of the rotation-stopping friction plates (8.3.1), the rear end of each rotation-stopping friction plate (8.3.1) is limited to slide in the corresponding rectangular sliding slot hole (5.2.3.2).

3. The electric pedal with adjustable pedal angle according to claim 2, wherein the inner side wall of the friction convex ring (5.2.2) and the outer surface of each rotation-stopping friction plate (8.3.1) are provided with friction lines.

4. The electric pedal with adjustable pedal angle according to claim 3, wherein each cantilever support (7) is composed of an L-shaped sheet, the long arm end (7.1) of the L-shaped sheet is fixedly arranged on the outer side wall of the free end of the four-bar linkage transmission mechanism (4), the translation telescopic rotating mechanism (8.1) is fixed to the short arm end (7.2) of the L-shaped sheet, and the left and right translation telescopic rotating mechanisms (8.1) are located directly below the corresponding positions of the pedal body (5.1). ​ ​ 5. The electric pedal with adjustable pedal angle according to claim 4, wherein the translational telescopic rotating mechanism (8.1) is a rotating propeller, the end of which is fixed to the short arm end (7.2) of the corresponding L-shaped sheet, the telescopic end of the rotating propeller is provided with a rotating engaging tooth (8.1.1), the rear end of the rotation-stopping shaft (8.2) is fixed to the front end surface in the center of the rotating engaging tooth (8.1.1), and the rotating propeller comprises a pedal controller, which is electrically connected with the inclination sensor (6) and the driving motor (3) respectively.

6. The adjustable angle electric pedal of claim 4, wherein: The translational telescopic rotating mechanism (8.1) comprises a linear motor (8.1.2), a forward-reverse motor (8.1.3) and a pedal controller, the end of the linear motor (8.1.2) and the pedal controller are fixed to the short arm end (7.2) of the corresponding L-shaped sheet, the telescopic rod end of the linear motor (8.1.2) is fixed to the rear end surface of the forward-reverse motor (8.1.3), the front end of the output shaft of the forward-reverse motor (8.1.3) is fixed with a rotating engaging tooth (8.1.1), and the rear end of the rotation-stopping shaft (8.2) is fixed to the front end surface in the center of the rotating engaging tooth (8.1.1); the pedal controller is electrically connected with the linear motor (8.1.2), the forward-reverse motor (8.1.3), the inclination sensor (6) and the driving motor (3) respectively.

7. An automobile comprising a vehicle body panel and a door controller, characterized by, The electric pedal with adjustable pedal angle according to any one of claims 1-6 is further provided with two electric pedals with adjustable pedal angle, which are respectively fixedly connected to the left and right sides of the lower bottom surface of the vehicle body panel; and the door controller is electrically connected with the pedal controller.

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