Pedal robot and method of use

Abstract

The application discloses a pedal robot and a use method, which comprise a power assembly, a connecting assembly and a transmission assembly, the connecting assembly is connected with a pedal of a vehicle; the transmission assembly is connected between the power assembly and the connecting assembly, the transmission assembly comprises a disconnecting mechanism, the disconnecting mechanism comprises a first transmission member and a second transmission member, and the disconnecting mechanism has a first state and a second state; in the first state, the first transmission member and the second transmission member are fixedly connected and synchronously moved, and in the second state, the first transmission member and the second transmission member can be relatively moved; the disconnecting mechanism is switched from the first state to the second state when the speed of the vehicle is abnormal, so as to cut off the power output of the power assembly to the connecting assembly. The technical problem that the force applied by the accelerator pedal robot in the prior art cannot be released and removed in time is solved.

Description

Technical Field

[0001] This application belongs to the field of vehicle testing technology, specifically relating to a pedal robot with a safe release function and a corresponding method of use. Background Technology

[0002] In active safety road testing of automobiles, driving robots are one of the core pieces of equipment. Driving robots can control the vehicle's direction, acceleration, braking, and other functions, thus meeting the needs of various tests. As a type of driving robot, the accelerator pedal robot is mainly used to control the acceleration process during testing. However, in actual use, due to abnormal control signals and other reasons, the force applied by the accelerator pedal robot may not be released or disengaged in a timely manner, posing a significant safety hazard to the entire testing process. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] To address the aforementioned technical issues, this application provides a pedal robot with a release function. This prevents the robot from continuously applying force and accelerating under abnormal signal or vehicle speed conditions, thus effectively blocking the applied force and ensuring the safety of processes such as vehicle testing.

[0005] The technical solution adopted to achieve the purpose of this application is as follows:

[0006] The pedal robot of this application includes:

[0007] Power components;

[0008] A connecting component, which is connected to the vehicle's pedals;

[0009] A transmission assembly connected between the power assembly and the connection assembly, the transmission assembly including a disconnection mechanism, the disconnection mechanism including a first transmission member and a second transmission member and having a first state and a second state;

[0010] In the first state, the first transmission member and the second transmission member are fixedly connected and move synchronously; in the second state, the first transmission member and the second transmission member can move relative to each other.

[0011] When the vehicle speed is abnormal, the disconnection mechanism switches from the first state to the second state to cut off the power output from the power component to the connection component.

[0012] In some technical solutions, the transmission assembly further includes an actuator connected to the disconnection mechanism, and the actuator is used to drive the disconnection mechanism to switch from the first state to the second state.

[0013] In some technical solutions, the disconnection mechanism further includes a movable component, wherein the first transmission component and the second transmission component are nested and can move relative to each other in a first direction, and the movable component can move in a second direction intersecting the first direction and has a locking position and an unlocking position;

[0014] In the locked position, the movable component is limited to both the first transmission member and the second transmission member to restrict the relative movement of the first transmission member and the second transmission member in the first direction;

[0015] In the unlocked position, the movable component releases its limiting engagement with at least one of the first and second transmission members, allowing the first and second transmission members to move relative to each other in the first direction.

[0016] In some technical solutions, the actuator includes a pushing member, which is reciprocating in the first direction and has a pushing position and a releasing position;

[0017] In the pushing position, the pushing member pushes the movable component to switch the movable component from the unlocked position to the locked position; in the unpushing position, the pushing member releases the pushing on the movable component so that the movable component can switch from the locked position to the unlocked position.

[0018] In some technical solutions, the actuator further includes a cylinder body, the pushing member is slidably assembled in the cylinder body, the second transmission member is sleeved on the outer periphery of the first transmission member, and the cylinder body is connected between the power assembly and the first transmission member.

[0019] In some technical solutions, a control valve is also included. The cylinder body is provided with a working port, and the control valve is connected to the working port. The control valve is used to control the driving medium to flow into or out of the cylinder body through the working port, so as to realize the reciprocating drive of the push member between the push position and the release position.

[0020] In some technical solutions, the movable component includes:

[0021] The movable block is fitted with the second transmission member on the outer periphery of the first transmission member. The first transmission member has a mating hole that passes through the first transmission member along the second direction. The movable block is assembled in the mating hole and can reciprocate along the second direction. The movable block is used to abut or insert with the second transmission member in the locking position to restrict the relative movement of the first transmission member and the second transmission member in the first direction.

[0022] A rolling element, which is assembled within the first transmission member, is used to roll and move in the second direction when the pushing member moves, so as to push the moving block toward the second transmission member or release the pushing of the moving block toward the second transmission member.

[0023] In some technical solutions, the disconnection mechanism further includes a limiting member, which is disposed within the first transmission member. The limiting member has a first limiting groove that extends along the second direction. The rolling element is engaged within the first limiting groove and is movable along the extending direction of the first limiting groove.

[0024] In some technical solutions, multiple moving blocks and multiple rolling elements are provided. The first transmission member is provided with multiple mating holes, which are arranged at intervals along the circumference of the first transmission member. Multiple moving blocks are respectively assembled in the multiple mating holes. Multiple rolling elements are provided on the periphery of the pusher member, and the multiple rolling elements are respectively arranged correspondingly to the multiple moving blocks.

[0025] And / or, the rolling element is a sphere.

[0026] In some technical solutions, the movable block is provided with a first limiting surface, and the wall of the mating hole is provided with a second limiting surface. In the locked position, the first limiting surface and the second limiting surface are fitted together to prevent the movable block from dislodging from the mating hole.

[0027] In some technical solutions, the connection component includes:

[0028] A first clamping member is connected to the transmission assembly, and the first clamping member is provided with a guide rod;

[0029] The second clamping member is slidably assembled with the first clamping member. The second clamping member cooperates with the first clamping member to clamp and fix the pedal. The second clamping member has an annular portion, which is sleeved on the outer periphery of the guide rod.

[0030] An elastic element is sleeved on the outer periphery of the guide rod, and the elastic element is located between the first clamping member and the annular portion in the extending direction of the guide rod.

[0031] In some technical solutions, the power assembly includes:

[0032] A rocker arm, which is connected to the transmission assembly, is swayable and outputs power to the pedal through the transmission assembly and the connecting assembly;

[0033] A speed reducer and a motor, the speed reducer being connected between the rocker arm and the motor, the motor and the speed reducer being used to drive the rocker arm to swing;

[0034] A limiting block is installed between the rocker arm and the reducer. One of the limiting block and the rocker arm is provided with a second limiting groove, and the other is provided with a limiting post. The limiting post slides and engages in the second limiting groove to limit the swing stroke of the rocker arm.

[0035] And / or, the actuator is connected between the power assembly and the disconnection mechanism, the actuator is rotatably connected to the power assembly, and the disconnection mechanism is rotatably connected to the connection assembly.

[0036] The method of using this application includes the following steps:

[0037] Obtain the vehicle's speed parameters;

[0038] The speed parameters are compared with the set parameters;

[0039] If the comparison result shows that the vehicle speed is abnormal, the locking of the first and second transmission components of the disconnection mechanism of the pedal robot is released; otherwise, the locking of the first and second transmission components of the disconnection mechanism is maintained.

[0040] As can be seen from the above technical solution, the pedal robot and its usage method of this application have a release function, which avoids the situation where the robot continuously applies force and accelerates under abnormal conditions such as signal or vehicle speed, and achieves the effect of timely blocking the applied force, thus ensuring the safety of vehicle testing and other processes. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the overall structure of the pedal robot in the embodiments of this application.

[0043] Figure 2This is an axial cross-sectional view of the actuator and part of the disconnection mechanism in the embodiments of this application.

[0044] Figure 3 This is an exploded view of the actuator and part of the disconnection mechanism in the embodiments of this application.

[0045] Figure 4 This is a schematic diagram of the connection components in an embodiment of this application.

[0046] Figure 5 This is a schematic diagram of the rocker arm, transmission assembly, and connecting assembly in the embodiments of this application.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1-Power assembly; 11-Rocker arm; 111-Second limit groove; 12-Reducer; 13-Motor; 14-Limit block;

[0049] 2-Connecting assembly; 21-First clamping member; 211-Guide rod; 22-Second clamping member; 221-Annular portion; 23-Elastic member;

[0050] 3-Transmission assembly; 31-Actuator; 311-Pushing component; 312-Cylinder body; 3121-Working port; 32-Disconnection mechanism; 321-First transmission component; 3211-Matching hole; 32111-Second limiting surface; 322-Second transmission component; 323-Moving part; 3231-Moving block; 32311-First limiting surface; 3232-Rolling element; 324-Limiting component; 3241-First limiting groove;

[0051] 4-Control valve. Detailed Implementation

[0052] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0053] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0054] The specific technical solutions of this application will be described in detail below with reference to the accompanying drawings, which are not necessarily drawn to scale. Similar or identical reference numerals may be used to designate the same or similar parts in different drawings. The use of similar or identical reference numerals in different drawings does not mean that all drawings including similar or identical reference numerals constitute a single or the same embodiment. The accompanying drawings illustrate the various embodiments discussed in this application in a generalized manner, by way of example and not limitation.

[0055] The following describes an embodiment of the pedal robot of this application.

[0056] like Figure 1 As shown, the pedal robot of this application embodiment includes a power component 1, a connection component 2, and a transmission component 3.

[0057] The power assembly 1 may include a device with power output function such as a motor. When in use, the power assembly 1 can be used for power output, thereby meeting the need for pressing or pushing the vehicle's pedals, and thus meeting the need for continuous vehicle acceleration through the pedals.

[0058] The connecting component 2 is connected to the vehicle's pedal. For example, the connecting component 2 can be a device with a clamping function. In use, the connecting component 2 can clamp and fix to the pedal, thereby meeting the assembly requirements of connecting and fixing the pedal robot to the pedal.

[0059] In some other embodiments, the connecting component 2 may also be a device with fixing functions such as snap-fit ​​fixing and fastener fixing, that is, the connecting component 2 only needs to have the function of fixing and assembling with the pedal.

[0060] The transmission assembly 3 is connected between the power assembly 1 and the connection assembly 2. The transmission assembly 3 includes an actuator 31 and a disconnection mechanism 32. For example, Figure 1 As shown, the transmission component 3 can be a rod-shaped structure. The transmission component 3 can generally extend in the front-to-back direction. The rear side of the transmission component 3 can be connected to the power component 1, and the front side of the transmission component 3 can be connected to the connecting component 2.

[0061] It should be noted that each direction in this application can be the orientation of the pedal robot in actual use. The power component 1 and the connecting component 2 can be arranged at intervals in the front-back direction, with the left side from back to front as left, the right side from back to front as right, the upper side from back to front as upper, and the lower side from back to front as lower.

[0062] According to their different functions, the transmission component 3 can be divided into an actuator 31 and a disconnection mechanism 32. The actuator 31 and the disconnection mechanism 32 can be connected sequentially in the front-to-back direction. Specifically, the actuator 31 can be located at the rear of the disconnection mechanism 32, that is, the front end of the disconnection mechanism 32 can be connected to the connecting component 2, the rear end of the disconnection mechanism 32 can be connected to the front end of the actuator 31, and the rear end of the actuator 31 can be connected to the power component 1.

[0063] In some other embodiments, the disconnection mechanism 32 may also be located at the rear of the actuator 31. In this case, the front end of the actuator 31 may be connected to the connecting component 2, the rear end of the actuator 31 may be connected to the front end of the disconnection mechanism 32, and the rear end of the disconnection mechanism 32 may be connected to the power component 1.

[0064] Disconnection mechanism 32 includes a first transmission component 321 and a second transmission component 322, such as Figure 1 As shown, both the first transmission component 321 and the second transmission component 322 can be tubular structures. The radial dimension of the second transmission component 322 can be larger than the radial dimension of the first transmission component 321. The second transmission component 322 can be sleeved on the outer periphery of the first transmission component 321.

[0065] Depending on the different assembly relationships of the first transmission component 321 and the second transmission component 322, the disconnection mechanism 32 can be divided into two states, namely the first state and the second state.

[0066] In the first state, the first transmission component 321 and the second transmission component 322 are fixedly connected and move synchronously. Specifically, in the first state, the first transmission component 321 and the second transmission component 322 can be fixed by structural components such as pins. At this time, the first transmission component 321 and the second transmission component 322 can be fixedly connected as a whole. In use, the first transmission component 321 and the second transmission component 322 will move synchronously, that is, the relative positional relationship between the first transmission component 321 and the second transmission component 322 will not change.

[0067] In the second state, the first transmission member 321 and the second transmission member 322 can move relative to each other. Specifically, when in the second state, the aforementioned structural components such as the pin can release the locking limit on the first transmission member 321 and the second transmission member 322. At this time, the first transmission member 321 and the second transmission member 322 can move relative to each other. For example, the first transmission member 321 and the second transmission member 322 can generally adjust their relative positions in a telescopic manner in the front-back direction. This adjustment of relative positions can achieve the function of blocking the output power, that is, the power delivered by the power assembly 1 can be cut off at the disconnection mechanism 32, avoiding the situation where power is continuously applied to the pedal through the connecting assembly 2.

[0068] The actuator 31 is used to switch the disconnection mechanism 32 from the first state to the second state to cut off the power output from the power assembly 1 to the connection assembly 2 when the vehicle speed is abnormal.

[0069] For example, such as Figure 1 As shown, the actuator 31 can be a linear drive device, specifically a cylinder, electric push rod, hydraulic cylinder, or other similar device. The actuator 31 can interact with the pins used to lock and limit the first transmission member 321 and the second transmission member 322. Under normal conditions, the pins can maintain the state of locking and limiting the first transmission member 321 and the second transmission member 322.

[0070] When the vehicle is driving abnormally, the actuator 31 will receive a corresponding signal. At this time, the actuator 31 will act and drive the above-mentioned pin and other structural components to change position, thereby releasing the pin from locking the first transmission component 321 and the second transmission component 322. The disconnection mechanism 32 can then switch from the first state to the second state.

[0071] In some embodiments, the disconnection mechanism 32 further includes a movable component 323, in which the first transmission member 321 and the second transmission member 322 are nested and can move relative to each other in a first direction, and the movable component 323 can move in a second direction intersecting the first direction and has a locking position and an unlocking position.

[0072] For example, such as Figure 2 As shown, the first direction can be the axial direction of the disconnection mechanism 32, specifically the front-to-back direction, etc., and the second direction can be the radial or lateral direction of the disconnection structure, specifically the up-down or left-to-right direction, etc. In this embodiment, the first and second directions can be arranged perpendicularly. In some other embodiments, the included angle formed by the first and second directions can also be an acute or obtuse angle, etc.

[0073] Both the first transmission member 321 and the second transmission member 322 can be tubular structures. The second transmission member 322 can be sleeved on the outer periphery of the first transmission member 321, and the second transmission member 322 can reciprocate relative to the first transmission member 321 in the first direction.

[0074] The movable component 323 can be an integral component. The movable component 323 can be movably assembled to the first transmission component 321 and the second transmission component 322. Specifically, the first transmission component 321 can be provided with through holes, etc. When in use, the movable component 323 can be fitted into the through hole of the first transmission component 321. The through hole can extend along the second direction mentioned above. The movable component 323 can reciprocate in the extension direction of the through hole by the action of the actuator 31 mentioned above. During the movement of the movable component 323, the movable component 323 can have a locked position and an unlocked position.

[0075] In the locked position, the movable part 323 is in a limiting engagement with both the first transmission member 321 and the second transmission member 322 to restrict the relative movement of the first transmission member 321 and the second transmission member 322 in the first direction.

[0076] Specifically, when the movable part 323 is switched to the locked position, the movable part 323 can move to the outside of the disconnection mechanism 32. At this time, the movable part 323 can pass through the through hole of the first transmission member 321, and the outer end of the movable part 323 can abut against the second transmission member 322. The locking and limiting of the first transmission member 321 and the second transmission member 322 can be achieved through the friction between the movable part 323 and the second transmission member 322.

[0077] In the unlocked position, the movable part 323 releases its limiting engagement with at least one of the first transmission member 321 and the second transmission member 322, so that the first transmission member 321 and the second transmission member 322 can move relative to each other in a first direction.

[0078] Specifically, when the movable part 323 is switched to the unlocked position, the movable part 323 can move inward to the inside of the disconnection mechanism 32. At this time, the movable part 323 can still fit in the through hole of the first transmission member 321, while the outer end of the movable part 323 can release its contact with the inner wall of the second transmission member 322. Due to the release of friction, the first transmission member 321 and the second transmission member 322 can move relative to each other.

[0079] In some other embodiments, the inner wall of the second transmission member 322 may be provided with a groove or a through hole, and when in the locked position, the movable member 323 may simultaneously engage in the groove or through hole of the second transmission member 322.

[0080] In some embodiments, the actuator 31 includes a pusher 311, which is reciprocating in a first direction and has a push position and a release position. For example, as Figure 2 As shown, the actuator 31 can be a cylinder, etc., and the pusher 311 can be the piston rod of the cylinder. The pusher 311 can extend along a first direction. The first direction can be a front-back direction. During the front-back movement of the pusher 311, the pusher 311 has a pushing position and a releasing position.

[0081] In the push position, the pusher 311 pushes the movable member 323 to switch the movable member 323 from the unlock position to the locked position. For example, when the pusher 311 moves forward, the front end of the pusher 311 can engage with the movable member 323 to drive the movable member 323 to move outward and switch from the unlock position to the locked position.

[0082] In the unlocked position, the pusher 311 releases its push on the movable part 323, allowing the movable part 323 to switch from the locked position to the unlocked position. For example, when the pusher 311 moves backward, its front end can release its stop engagement with the movable part 323. Due to the loss of the stop action of the pusher 311, the movable part 323 can move inward and switch from the locked position to the unlocked position, thereby allowing the first transmission member 321 and the second transmission member 322 to move relative to each other.

[0083] In some embodiments, the actuator 31 further includes a cylinder 312, a pusher 311 is slidably fitted inside the cylinder 312, a second transmission member 322 is sleeved on the outer periphery of the first transmission member 321, and the cylinder 312 is connected between the power assembly 1 and the first transmission member 321.

[0084] For example, such as Figure 2 As shown, the cylinder body 312 can specifically be the cylinder body of a pneumatic cylinder. The cylinder body 312 is generally a cylindrical ring structure. The aforementioned pusher 311 can be assembled inside the cylinder body 312 and can reciprocate within the inner bore of the cylinder body 312. The rear end of the cylinder body 312 can be connected and fixed to the power assembly 1, and the front end of the cylinder body 312 can be threaded into the aforementioned first transmission member 321. This facilitates the connection and fixation of the disconnection mechanism 32 and the actuator 31.

[0085] In some embodiments, the pedal robot also includes a control valve 4. The cylinder body 312 is provided with a working port 3121. The control valve 4 is connected to the working port 3121 and is used to control the driving medium to flow into or out of the cylinder body 312 through the working port 3121, so as to realize the reciprocating drive of the push member 311 between the push position and the release position.

[0086] For example, such as Figure 1 As shown, control valve 4 can be a two-position five-way solenoid valve, such as... Figure 2 As shown, the cylinder body 312 may be provided with two working ports 3121, both of which are connected to the control valve 4, and the control valve 4 may be connected to an air tank, etc. In use, the air intake or exhaust of the two working valves can be adjusted and controlled by the control valve 4, thereby meeting the use requirement of driving the pusher 311 to move back and forth in the first direction.

[0087] In some embodiments, such as Figure 2 and Figure 3 As shown, the movable part 323 includes a moving block 3231 and a rolling element 3232, wherein the moving block 3231 can be a block structure, and the rolling element 3232 can be a sphere or a cylinder, etc.

[0088] The second transmission member 322 is sleeved on the outer periphery of the first transmission member 321. The first transmission member 321 has a mating hole 3211 that passes through the first transmission member 321 along the second direction. The moving block 3231 is assembled in the mating hole 3211 and can reciprocate along the second direction. The moving block 3231 is used to abut or insert with the second transmission member 322 in the locked position to restrict the relative movement of the first transmission member 321 and the second transmission member 322 in the first direction.

[0089] For example, the first transmission component 321 can be a cylindrical structure, such as... Figure 2 and Figure 3 As shown, the mating hole 3211 can be provided on the first transmission member 321 and can penetrate the peripheral wall of the first transmission member 321 radially. The second transmission member 322 can be sleeved on the outer peripheral side of the first transmission member 321. The aforementioned moving block 3231 can be assembled in the mating hole 3211, and the moving block 3231 can reciprocate within the mating hole 3211. When the moving block 3231 moves outward, the outer end face of the moving block 3231 can abut against the inner peripheral wall of the second transmission member 322, thereby locking the position of the second transmission member 322.

[0090] The rolling element 3232 is assembled inside the first transmission member 321. The rolling element 3232 is used to roll and move in the second direction when the pusher 311 moves, so as to push the moving block 3231 towards the second transmission member 322 or release the push of the moving block 3231 towards the second transmission member 322.

[0091] For example, such as Figure 2 and Figure 3 As shown, the rolling element 3232 can be a sphere. The rolling element 3232 can be assembled inside the first transmission member 321, and in the inner and outer directions, the rolling element 3232 is arranged opposite to the moving block 3231.

[0092] When the aforementioned pusher 311 switches from the unpull position to the push position, the rolling element 3232 can simultaneously rotate and move in the second direction due to the pushing action of the pusher 311. The moving rolling element 3232 can push the moving block 3231, thereby locking the second transmission member 322 through the moving block 3231. The rotation of the rolling element 3232 itself can reduce the friction with the pusher 311, thereby improving the smoothness of the cooperation between the pusher 311 and the moving part 323.

[0093] In some embodiments, the disconnection mechanism 32 further includes a limiting member 324, which is disposed within the first transmission member 321. The limiting member 324 has a first limiting groove 3241, which extends along a second direction. The rolling element 3232 is engaged within the first limiting groove 3241 and is movable along the extending direction of the first limiting groove 3241.

[0094] For example, such as Figure 2 and Figure 3 As shown, the limiting member 324 can generally be a disc or cylindrical structure. The limiting member 324 can be fixed inside the first transmission member 321 and can be located at the front of the first transmission member 321. Figure 3 As shown, the first limiting groove 3241 can be provided on the rear end face of the limiting member 324, and the first limiting groove 3241 can be extended along the second direction mentioned above.

[0095] The limiting member 324 can be located on the front side of the rolling element 3232, and a part of the rolling element 3232 can be fitted into the first limiting groove 3241. In use, the rolling element 3232 can rotate and move within the first limiting groove 3241, thereby improving the guiding and stability of the movement of the rolling element 3232 through the limiting effect of the groove wall of the first limiting groove 3241.

[0096] The independent setting of the limiting component 324 also facilitates the independent processing of the complex structure of the disconnection mechanism 32, improves the convenience of processing and production, and helps to simplify the overall processing technology and reduce processing costs.

[0097] In some embodiments, multiple movable blocks 3231 and multiple rolling elements 3232 are provided. The first transmission member 321 is provided with multiple mating holes 3211. The multiple mating holes 3211 are arranged at intervals along the circumference of the first transmission member 321. The multiple movable blocks 3231 are respectively assembled in the multiple mating holes 3211. The multiple rolling elements 3232 are provided on the periphery of the push member 311, and the multiple rolling elements 3232 are respectively arranged correspondingly to the multiple movable blocks 3231.

[0098] For example, such as Figure 3 As shown, there can be four moving blocks 3231 and four rolling elements 3232. The first transmission member 321 can have four mating holes 3211, which can be arranged at equal intervals along the circumference of the first transmission member 321. The four moving blocks 3231 can be respectively assembled into the four mating holes 3211. Figure 2 As shown, all four rolling elements 3232 can be assembled inside the first transmission member 321, and when the disconnection mechanism 32 is in the first state, the four rolling elements 3232 can be located on the outer periphery of the pusher member 311.

[0099] Therefore, by using multiple moving blocks 3231, the friction points between the moving blocks and the second transmission member 322 can be increased, thereby improving the locking effect on the second transmission member 322 and achieving a balanced force distribution in the circumferential direction. This avoids the situation where the coaxiality of the second transmission member 322 and the first transmission member 321 is easily offset by force in a single direction.

[0100] The aforementioned limiting member 324 may also be provided with four first limiting grooves 3241. The multiple first limiting grooves 3241 can be arranged at intervals along the circumference of the limiting member 324, and the multiple rolling elements 3232 can respectively cooperate in the multiple first limiting grooves 3241.

[0101] It should be noted that the first transmission component 321 can be fixed on the outer periphery of the cylinder body 312, and the plurality of rolling elements 3232 can be clamped between the limiting component 324 and the front end of the cylinder body 312, thereby preventing the rolling elements 3232 from moving too much in the first direction.

[0102] Secondly, during the reciprocating movement of the pusher 311, the travel distance of the pusher 311 can be limited to a small range. In this way, the pusher 311 can always have a limiting effect on the multiple rolling elements 3232, thereby reducing the inward movement distance of the rolling elements 3232 and facilitating the pusher 311 to drive the multiple rolling elements 3232 outward again.

[0103] In some other embodiments, the disconnection mechanism 32 can also be a one-time event during a single test. That is, under normal conditions, the pusher 311 can always maintain the pushing action on the multiple rolling elements 3232. When the pusher 311 releases the pushing action on the multiple rolling elements 3232, the disconnection mechanism 32 can be reassembled by manual assembly or other means to meet the needs of the next test.

[0104] In some embodiments, the movable block 3231 is provided with a first limiting surface 32311, and the hole wall of the mating hole 3211 is provided with a second limiting surface 32111. In the locked position, the first limiting surface 32311 and the second limiting surface 32111 fit together to abut against each other, so as to restrict the movable block 3231 from dislodging from the mating hole 3211.

[0105] For example, such as Figure 2As shown, both the first limiting surface 32311 and the second limiting surface 32111 can be inclined surfaces, and the moving block 3231 can be a wedge-shaped structure. The first limiting surface 32311 can be located on the rear side of the moving block 3231, and the second limiting surface 32111 can be the rear wall of the mating hole 3211. In use, the first limiting surface 32311 and the second limiting surface 32111 can fit together to abut, thereby restricting the outward movement of the moving block 3231 and preventing the moving block 3231 from completely dislodging from the mating hole 3211, thus ensuring the structural stability of the assembly.

[0106] In some embodiments, such as Figure 4 As shown, the connecting component 2 includes a first clamping member 21, a second clamping member 22, and an elastic member 23.

[0107] The first clamping member 21 is connected to the transmission assembly 3, and the first clamping member 21 is provided with a guide rod 211. For example, as Figure 4 As shown, the first clamping member 21 may be provided with two ear plates or other connecting structures. The first clamping member 21 can be connected to the second transmission member 322 through the two ear plates. The guide rod 211 can be located in the middle of the first clamping member 21 and can extend along the front and rear direction. The guide rod 211 can be in the shape of a round rod.

[0108] The second clamping member 22 is slidably assembled with the first clamping member 21. The second clamping member 22 cooperates with the first clamping member 21 to clamp and fix the pedal. The second clamping member 22 is provided with an annular part 221, which is sleeved on the outer periphery of the guide rod 211.

[0109] For example, such as Figure 4 As shown, the inner side of the first clamping member 21 may be provided with a guide groove, which may also extend along the front-back direction. The second clamping member 22 may be slidably assembled in the guide groove. Both the first clamping member 21 and the second clamping member 22 may be provided with two jaws, and the two jaws on the first clamping member 21 and the two jaws on the second clamping member 22 may be arranged opposite to each other in the front-back direction.

[0110] In use, the distance between the jaws of the two clamping members can be adjusted by sliding the second clamping member 22 relative to the first clamping member 21, and the jaws of the two clamping members can clamp and fix the pedal, thereby meeting the usage requirements of clamping and connecting with the pedal.

[0111] The annular portion 221 can be integrally formed on the top side of the second clamping member 22. The annular portion 221 can be sleeved on the guide rod 211. In use, the annular portion 221 can reciprocate along the guide rod 211, thereby enhancing the guiding effect of the first clamping member 21 and the second clamping member 22.

[0112] The elastic element 23 is sleeved on the outer periphery of the guide rod 211, and the elastic element 23 is located between the first clamping member 21 and the annular portion 221 in the extending direction of the guide rod 211. For example, as Figure 4 As shown, the elastic element 23 can be a spring. The elastic element 23 can be assembled on the outer periphery of the guide rod 211. The front end of the elastic element 23 can be in contact with the aforementioned annular portion 221, and the rear end of the elastic element 23 can be in contact with the first clamping member 21.

[0113] In use, the elastic element 23 can apply an elastic force to the first clamping element 21 and the second clamping element 22. The elastic force of the elastic element 23 can keep the first clamping element 21 and the second clamping element 22 clamping the pedal, thus ensuring the stability of the clamping state.

[0114] In some embodiments, such as Figure 1 As shown, the power assembly 1 includes a rocker arm 11, a reducer 12, a motor 13, and a limit block 14.

[0115] The rocker arm 11 is connected to the transmission assembly 3, and the rocker arm 11 can swing to output power to the pedal through the transmission assembly 3 and the connecting assembly 2. For example, Figure 5 As shown, the rocker arm 11 may include an integrally formed disc part and a long arm part. The long arm part can be connected to the cylinder body 312 of the actuator 31 of the transmission assembly 3 via an adapter. Specifically, the adapter can be rotatably assembled with the long arm part via a pivot. The adapter may be provided with a threaded hole. The rear end of the cylinder body 312 may be provided with a threaded post. The threaded post can be threadedly assembled into the threaded hole of the adapter.

[0116] In use, the rocker arm 11 can swing in the front and back direction. When the rocker arm 11 swings forward, it can push the transmission component 3. The pushed transmission component 3 can press the pedal through the connecting component 2, thereby meeting the need for continuous acceleration in the test.

[0117] The reducer 12 is connected between the rocker arm 11 and the motor 13. The motor 13 and the reducer 12 are used to drive the rocker arm 11 to swing. For example, Figure 1 As shown, in the left-right direction, the reducer 12 can be located between the rocker arm 11 and the motor 13. The motor 13 can specifically be a servo motor 13, and the reducer 12 can specifically be a planetary reducer. The input shaft of the reducer 12 can be connected to the motor shaft of the motor 13, and the output shaft of the reducer 12 can be connected to the center of the disc portion of the rocker arm 11, thereby meeting the usage requirements of driving the rocker arm 11 to swing.

[0118] The limiting block 14 is installed between the rocker arm 11 and the reducer 12. One of the limiting block 14 and the rocker arm 11 is provided with a second limiting groove 111, and the other is provided with a limiting post. The limiting post slides and engages in the second limiting groove 111 to limit the swing stroke of the rocker arm 11.

[0119] For example, such as Figure 1 As shown, the limiting block 14 can be a flat prism structure. The limiting block 14 can be fixed to the right side of the reducer 12, and the limiting post can be fixed to the limiting block 14, specifically located on the right side of the limiting block 14, such as... Figure 5 As shown, the disc portion of the rocker arm 11 may be provided with two second limiting grooves 111. Both second limiting grooves 111 can be arc grooves, and the two second limiting grooves 111 can be arranged in a mirror symmetrical manner.

[0120] The limiting block 14 may be provided with two limiting posts, which can respectively cooperate in two second limiting grooves 111. When the rocker arm 11 swings, the two limiting posts can move in the corresponding second limiting grooves 111 respectively, and the swing stroke of the rocker arm 11 can be limited by the blocking of the limiting posts and the groove walls of the second limiting grooves 111, thus avoiding the situation where the swing stroke of the rocker arm 11 is too large.

[0121] Actuator 31 is connected between power assembly 1 and disconnection mechanism 32. Actuator 31 is rotatably connected to power assembly 1, and disconnection mechanism is rotatably connected to connection assembly 2. For example, Figure 5 As shown, the cylinder 312 of the actuator 31 can be rotatably connected to the rocker arm 11 through the above-mentioned adapter. The connection method can be the same as the connection method described in the above embodiment, and will not be repeated here.

[0122] The second transmission member 322 of the disconnection mechanism 32 may also be provided with a threaded hole. Another adapter can be mounted between the two lugs of the connecting component 2 via a pivot. The adapter is also provided with a threaded hole, and the threaded post on the second transmission member 322 can be threaded into the threaded hole.

[0123] The following describes how to use this application.

[0124] The method of using this application includes the following steps:

[0125] S1: Obtain vehicle speed parameters. Specific speed parameters may include acceleration and vehicle speed. Speed ​​parameters can be obtained through specialized sensors and the corresponding control system's calculations.

[0126] S2: Compare the speed parameters with the set parameters. For example, the set parameters can be some reference parameters preset for the test. After obtaining the speed parameters, the speed parameters can be compared with the set parameters. Specifically, the set parameters can be the preset upper limit of vehicle speed. When the speed parameters exceed the upper limit, it can be considered that the vehicle speed is abnormal.

[0127] S3: If the comparison result shows that the vehicle speed is abnormal, release the locking of the first and second transmission components of the disconnection mechanism of the pedal robot, that is, the disconnection mechanism can be switched to the second state by the actuator. Otherwise, keep the locking of the first and second transmission components of the disconnection mechanism, that is, keep the disconnection mechanism in the first state.

[0128] For example, when the system detects abnormal acceleration of the vehicle, it immediately sends a command and activates the actuator 31 of the aforementioned pedal robot. At this time, the two-position five-way solenoid valve connected to the actuator 31 reverses direction. Under the action of air pressure, the piston rod of the pneumatic actuator 31 moves axially towards the rocker arm 11, causing the pressure on the ball in the disconnection mechanism 32 to be released. Then, under the action of the rocker arm 11 continuing to output force to the pedal, the moving block 3231 of the disconnection mechanism 32 moves into the first transmission member 321. As a result, the physical connection between the disconnection mechanism 32 and the moving block 3231 and the second transmission member 322 is broken, causing the accelerator pedal of the test vehicle to be disconnected from the power component 1 of the accelerator pedal robot, thereby cutting off the power source and thus cutting off the power output of the test vehicle, ensuring the safety of the test process.

[0129] When restarting the road test, the two-position five-way solenoid valve can be switched again. At the same time, the disconnection mechanism 32 can be manually restored, and then the test vehicle test can continue.

[0130] The pedal robot and corresponding usage method of this application have a safe release function. By physically cutting off the power source, the safety of road testing of intelligent connected vehicles is ensured, and the connection function can be quickly restored. In terms of safety performance, it is superior to traditional accelerator pedal robots, and significantly improves the reliability and safety assurance capability of the testing process.

[0131] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0132] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0133] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0134] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0135] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0137] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0138] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A pedal robot, characterized in that, include: Power components; A connecting component, which is connected to the vehicle's pedals; A transmission assembly is connected between the power assembly and the connection assembly. The transmission assembly includes a disconnection mechanism and an actuator. The disconnection mechanism includes a first transmission member and a second transmission member and has a first state and a second state. The actuator is connected to the disconnection mechanism and is used to drive the disconnection mechanism to switch from the first state to the second state. In the first state, the first transmission member and the second transmission member are locked and move synchronously; in the second state, the first transmission member and the second transmission member can move relative to each other. When the vehicle speed is abnormal, the disconnection mechanism switches from the first state to the second state to cut off the power output from the power component to the connection component. The disconnection mechanism further includes a movable component. The first transmission component and the second transmission component are nested and can move relative to each other in a first direction. The movable component can move in a second direction that intersects with the first direction and has a locking position and an unlocking position. In the locked position, the movable component is limited to both the first transmission member and the second transmission member to restrict the relative movement of the first transmission member and the second transmission member in the first direction; In the unlocked position, the movable component releases its limiting engagement with at least one of the first and second transmission components, so that the first and second transmission components can move relative to each other in the first direction; The movable component includes a moving block and a rolling element. The second transmission component is sleeved on the outer periphery of the first transmission component. The first transmission component has a mating hole that passes through the first transmission component along the second direction. The moving block is assembled in the mating hole and can reciprocate along the second direction. The moving block is used to abut or insert with the second transmission component in the locking position to restrict the relative movement of the first transmission component and the second transmission component in the first direction. The rolling element is assembled inside the first transmission member. The rolling element is used to roll and move in the second direction when the pusher of the actuator moves, so as to push the moving block toward the second transmission member or release the pusher of the moving block toward the second transmission member.

2. The pedal robot according to claim 1, characterized in that, The transmission assembly further includes an actuator connected to the disconnection mechanism, and the actuator is used to drive the disconnection mechanism to switch from the first state to the second state.

3. The pedal robot according to claim 1, characterized in that, The actuator includes a pushing member that is reciprocating in the first direction and has a pushing position and a releasing position. In the pushing position, the pushing member pushes the movable component to switch the movable component from the unlocked position to the locked position; in the unpushing position, the pushing member releases the pushing on the movable component so that the movable component can switch from the locked position to the unlocked position.

4. The pedal robot according to claim 3, characterized in that, The actuator also includes a cylinder body, the pusher is slidably assembled in the cylinder body, the second transmission member is sleeved on the outer periphery of the first transmission member, and the cylinder body is connected between the power assembly and the first transmission member; It also includes a control valve. The cylinder body is provided with a working port. The control valve is connected to the working port and is used to control the driving medium to flow into or out of the cylinder body through the working port, so as to realize the reciprocating drive of the pusher between the push position and the release position.

5. The pedal robot according to claim 1, characterized in that, The disconnection mechanism further includes a limiting member, which is disposed within the first transmission member. The limiting member has a first limiting groove that extends along the second direction. The rolling element is engaged within the first limiting groove and is movable along the extending direction of the first limiting groove. And / or, both the moving block and the rolling body are provided with a plurality of them, the first transmission member is provided with a plurality of the mating holes, the plurality of the mating holes are arranged at intervals along the circumference of the first transmission member, the plurality of moving blocks are respectively assembled in the plurality of the mating holes, the plurality of rolling bodies are provided on the periphery of the pusher member, and the plurality of rolling bodies are respectively arranged correspondingly to the plurality of moving blocks; And / or, the rolling element is a sphere; And / or, the movable block is provided with a first limiting surface, and the wall of the mating hole is provided with a second limiting surface. In the locked position, the first limiting surface and the second limiting surface are fitted together to prevent the movable block from dislodging from the mating hole.

6. The pedal robot according to claim 1, characterized in that, The connection component includes: A first clamping member is connected to the transmission assembly, and the first clamping member is provided with a guide rod; The second clamping member is slidably assembled with the first clamping member. The second clamping member cooperates with the first clamping member to clamp and fix the pedal. The second clamping member has an annular portion, which is sleeved on the outer periphery of the guide rod. An elastic element is sleeved on the outer periphery of the guide rod, and the elastic element is located between the first clamping member and the annular portion in the extending direction of the guide rod.

7. The pedal robot according to any one of claims 1-6, characterized in that, The power assembly includes: A rocker arm, which is connected to the transmission assembly, is swayable and outputs power to the pedal through the transmission assembly and the connecting assembly; A speed reducer and a motor, the speed reducer being connected between the rocker arm and the motor, the motor and the speed reducer being used to drive the rocker arm to swing; A limiting block is installed between the rocker arm and the reducer. One of the limiting block and the rocker arm is provided with a second limiting groove, and the other is provided with a limiting post. The limiting post slides and engages in the second limiting groove to limit the swing stroke of the rocker arm.

8. A method of using a pedal robot, comprising using the pedal robot according to any one of claims 1-7, characterized in that, Includes the following steps: Obtain the vehicle's speed parameters; The speed parameters are compared with the set parameters; If the comparison result shows that the vehicle speed is abnormal, the locking of the first and second transmission components of the disconnection mechanism of the pedal robot is released; otherwise, the locking of the first and second transmission components of the disconnection mechanism is maintained.

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