CN102384850B - Gear shift manipulator used in automobile test - Google Patents
Gear shift manipulator used in automobile test Download PDFInfo
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- CN102384850B CN102384850B CN 201110264354 CN201110264354A CN102384850B CN 102384850 B CN102384850 B CN 102384850B CN 201110264354 CN201110264354 CN 201110264354 CN 201110264354 A CN201110264354 A CN 201110264354A CN 102384850 B CN102384850 B CN 102384850B
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Abstract
The invention belongs to the automobile-test automatic driving apparatus technology field and relates to a gear shift manipulator used in an automobile test. The gear shift manipulator comprises: a gear selecting motor, a gear shift motor, a gear selecting shaft, a gear shift shaft, a large arm I, a large arm II, a large arm III, a small arm I, a small arm II, two L-shaped regulating arms, a wrist connecting rod, an elbow joint and a gear shift rod sleeve. The elbow joint comprises: an elbow joint shaft I, an elbow joint shaft II, an elbow joint shaft support I, an elbow joint shaft support II and a pin. The elbow joint shaft I is flexibly connected with the elbow joint shaft support I and the elbow joint shaft support II. The elbow joint shaft support I is respectively connected with upper parts of the large arm I and the large arm II through the pin. The elbow joint shaft support II is connected with the upper part of the large arm III through the pin. The elbow joint shaft II is flexibly connected with the elbow joint shaft support I. The gear shift rod sleeve is respectively connected with the two L-shaped regulating arms through the wrist connecting rod. In the invention, a gear selecting motion process and a gear shift motion process are not interfered with each other. Decoupling of putting into gear can be realized. Control is convenient.
Description
Technical field
The present invention relates to a kind of can be in automobile test, replace mankind driver's electrodynamic type pilot instrument.Belong to automobile test servomechanism technical field.
Background technology
In recent years, the automobile pollution rapid growth, the pollution problem that causes the objectionable impurities in motor vehicle emission tail gas to cause highlights gradually.For this reason, country has enacted and enforced the content of strict automobile emissions standards with objectionable impurities in restriction tail gas.The permanance cyclic test time is long, in process of the test, the accuracy of speed tracking and repeatability precision depend on driving skills and the reaction velocity of testing crew, and the circulation speed of a motor vehicle constantly changes, testing requirements car speed error must be controlled in 2km/h, thereby can reduce the reliability of emission testing data.The noise that dynamometer machine equipment sends, the pollution of the tail gas of vehicular discharge to air ambient, long-time uninteresting driving all can cause certain injury to the driver.Therefore, need to substitute mankind driver with car test drive robot and be tested, use objectivity and accuracy that car test drive robot can the warranty test data, alleviate the fatigue of human pilot, reduce the injury of rugged surroundings to testing crew.In addition, Vehicle Driver Robot is applied to durability emission test, can also shortens test period, significantly reduce testing expenses, improve test efficiency.
Early, the Robotics data of offshore company is maintained secrecy, not external disclosure in external automobile test development starting.The company that develops this class robot mainly contains, Japan little wild Co., Ltd. (ONOSOKKI), the companies such as company such as AUTOPILOT, HORIBA, the LBECO company of the U.S., the companies such as the MIRA of Britain, Froude Consine, Anthony Best Dynamics.
No. 200410065844.0 domestic patents are to describe drive robot.It utilizes the step motor control throttle, realizes the accurate location of throttle position.Detent, clutch coupling and gear shifting manipulator are used cylinder as power source, by corresponding air valve, regulate to realize moving fast.Because the compressibility of gas is large, accurate control ratio is carried out in speed and position more difficult, and damping is undesirable.On-the-spot robot controls computing machine according to the driver behavior requirement, controls motor and cylinder and completes the cooperation between driver behavior and sequential.The throttle pedipulator of this robot is only by driven by power, in the process of carrying out in test, vehicle just travels with a certain speed per hour, if interrupt suddenly because some factor causes electric power, the throttle pedipulator of this drive robot will rest on current location so, can't lift gas pedal by the automatic recovery, for vehicle and testing crew, have certain potential safety hazard.
The topworks of car test drive robot generally includes the throttle pedipulator, braking pedipulator, clutch mechanism leg, gear shifting manipulator.Car test drive robot is divided three classes according to its type of drive, comprises hydraulic-driven, and air pressure drives and motor drives three basic forms of it.Hydraulically powered shortcoming is high for the seal request that contains the hydraulic oil element, if reveal, will cause environmental pollution, the pipeline structure complexity, and maintenance requirement is high; The gas compressibility that air pressure drives is large, and to the accurate control difficulty of speed and position, damping is poor.Motor drives can be divided into common AC/DC motor and servomotor again, and common AC/DC motor control performance is poor, and inertia is large, is difficult for accurately location; The volume of servomotor is little, and control performance is good, controls dirigibility strong, can realize the accurate control to speed and position.
The mechanical drive form of traditional car test drive robot gear shifting manipulator, can adopt pinion and-rack, and the advantage of this form is registration, and shortcoming is complex structure, and rack stroke is large, and the complete machine size is large; Angle is controlled two power rod-types, and advantage is simple in structure, non-maintaining, but controls complicated.
Summary of the invention
For the deficiencies in the prior art, the purpose of this invention is to provide a kind of can being applied in and replace mankind driver, carry out automobile test, especially the gear shifting manipulator on the electric drive robot device of endurancing.It can adapt to dissimilar, and the vehicle of different gearshift forms, on the basis of vehicle not being transformed, is arranged in pilothouse.
Technical scheme of the present invention is: gear shift manipulator used in automobile test, comprise the block selecting motor, shift motor, by the motor-driven block selecting axle of block selecting, the shifting shaft driven by shift motor, large arm I, large arm II, large arm III, the forearm I, the forearm II, two L shaped regulating arms, the wrist connecting link, elbow joint and gear level sleeve, described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I, elbow joint bracing strut II and bearing pin, elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II are flexibly connected, elbow joint bracing strut I is connected with the top of large arm I and large arm II respectively by bearing pin, elbow joint bracing strut II is connected with the top of large arm III by bearing pin, elbow joint axle II and elbow joint bracing strut I are flexibly connected, the block selecting axle is connected with the bottom of large arm III by bearing pin, and large arm I and large arm II bottom are connected to shifting shaft by bearing pin, one end of forearm I is connected with the locking of elbow joint axle I, an end of forearm II is connected with the locking of elbow joint axle II, the forearm I is connected with a L-type regulating arm respectively with the forearm II other end separately, and the gear level sleeve is connected with two L shaped regulating arms respectively by the wrist connecting link.
As preferred implementation, described gear shift manipulator used in automobile test comprises the angular displacement sensor of the movement position for obtaining sleeve, and its output is for controlling the gearshift action; The block selecting motor is connected with its reductor, and speed reducer output shaft is connected with the block selecting axle by shaft coupling; Shift motor is connected with its reductor, and speed reducer output shaft is connected with shifting shaft by shaft coupling; Be provided with the position adjustments hole of the entire length for changing forearm on two L-type regulating arms; On the wrist connecting link, be provided with for regulating the adjustment hole of gear level sleeve position.
Gear shifting manipulator of the present invention, adopt the vertical mode of placing of servomotor, and a driving device arm moves to the left or to the right, completes the block selecting action; A driving device arm moves forwards or backwards, and completes the gearshift action.Block selecting and two motion processes of gearshift, mutually noninterfere, realized the decoupling zero of engage a gear action, it is convenient to control.And, employing driven by servomotor of the present invention, starting moment is large, and range of operation is wide, low vibration; There is higher response speed, precision and frequency; There is good control characteristic.And the present invention has compact conformation, be easy to the advantage of installation and maintenance.
The accompanying drawing explanation
Fig. 1 is the side view of complete machine of the present invention.
Fig. 2 is the front view of complete machine of the present invention.
Fig. 3 is the vertical view of complete machine of the present invention.
Fig. 4 is the side view of clutch mechanism leg driver element.
Fig. 5 is the vertical view of detent pedipulator driver element.
Fig. 6 is the vertical view of throttle pedipulator driver element.
Fig. 7 is the front elevation of gear shifting manipulator.
Fig. 8 is the left view of gear shifting manipulator.
Fig. 9 is the vertical view of gear shifting manipulator.
Figure 10 is the right view of gear shifting manipulator.
Figure 11 is the vertical view of clutch mechanism leg.
Figure 12 is the vertical view of detent pedipulator.
Figure 13 is the vertical view of throttle pedipulator.
Comprising: complete machine fixed base plate 1, rotary bottom plate 2, rotating shaft 3, adjusting bolt 4, clutch mechanism leg driver element external part 5, the nonrotational part 6 in spherical universal joint, bearing seat 7, linear displacement transducer 8, bearing pin 9, small sheave 10, reductor fixed support 11, Compress Spring 12, driving stem 13, drive pole socket 14, servomotor 15, reductor 16, large pulley 17, axle sleeve 18, bearing 19, detent pedipulator driver element external part 20, the nonrotational part 21 in spherical universal joint, bearing seat 22, axle sleeve 23, large pulley 24, bearing pin 25, small sheave 26, reductor fixed support 27, reductor 28, servomotor 29, drive pole socket 30, driving stem 31, Compress Spring 32, linear displacement transducer 33, bearing 34, throttle pedipulator driver element external part 35, the nonrotational part 36 in spherical universal joint, bearing seat 37, axle sleeve 38, large pulley 39, reductor fixed support 40, reductor 41, servomotor 42, drive pole socket 43 Compress Springs 44, driving stem 45, linear displacement transducer 46, small sheave 47, bearing pin 48, bearing 49, clutch mechanical leg outer tube 50, retaining ring 51, clutch pedal folder 52, spherical universal joint 53, clutch mechanical leg inner tube 54, bearing 55, robot base 56, block selecting motor 57, shifting shaft 58, bearing 59, shaft coupling 60, shift motor reductor 61, shift motor 62, large arm I 63, elbow joint axle II 64, elbow joint axle I 65, large arm II 66, forearm I 67, L shaped regulating arm I 68, gear level sleeve 69, L shaped regulating arm II 70, forearm II 71, bearing 72, block selecting axle 73, shaft coupling 74, block selecting motor reducer 75, wrist connecting link I 76, wrist connecting link II 77, large arm III 78, elbow joint bracing strut I 79, elbow joint bracing strut II 80, bearing pin 81, angular displacement sensor 82, braking pedipulator outer tube 83, retaining ring 84, brake pedal folder 85, spherical universal joint 86, braking pedipulator inner tube 87, throttle pedipulator outer tube 88, retaining ring 89, gas pedal folder 90, spherical universal joint 91, throttle pedipulator inner tube 92.
Embodiment
In order further to understand summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1～Fig. 3, adopt the drive robot of changing gear manipulator of the present invention to belong to a kind of pulley-type drive robot, comprise robot base 1, be placed on pilot set, clutch mechanism leg driver element external part 5 inserts in clutch mechanism leg outer tube 50, clutch pedal folder 52 is connected with clutch pedal, detent pedipulator driver element external part 20 inserts in detent pedipulator outer tube 82, brake pedal folder 84 is connected with brake pedal, throttle pedipulator driver element external part external part 35 inserts in throttle pedipulator outer tube 87, throttle pedipulator pedal folder 89 is connected with gas pedal, gear shifting manipulator is connected with the automobile gear shift shift lever by gear level sleeve 69.Adjusting bolt 4 is passed rotating shaft 3, and vertical with rotary bottom plate rear portion extension, changes the length of adjusting bolt 4, and rotating shaft 3 is rotated around its axle, adjusts the angle of rotary bottom plate 2 and fixed base plate 1.Make rotary bottom plate 2 planes point to pedal of vehicles, and guarantee near normal, can reduce like this pedipulator drive unit drives motor power waste in the course of the work.The large arm I 63 of mechanical arm, large arm II 66, large arm III 78 is as far as possible vertical with fixed base plate, by changing L shaped regulating arm 68(70) length, wrist connecting link I 76, the position of wrist connecting link II 77, make the socket of gear level sleeve and gear level.The clutch pedal of vehicle, brake pedal, gas pedal and gear level are connected with the actuating station of robot, have realized its harmless installation on vehicle.
Consult Fig. 4, clutch mechanism leg driver element adopts servomotor as power source, reductor 16 hugs formula with servomotor 15 employings and is connected, and servomotor and reductor thereof are fixed on rotary bottom plate 2 by support 11, and speed reducer output shaft is connected with bearing 19 penetration types by axle sleeve 18.It is 18 affixed that large pulley 17 and speed reducer output shaft overlap, and small sheave 10 is arranged on pivot pin 9.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem 13 rear ends are affixed.Compress Spring 12 is enclosed within driving stem 13 outsides, and front end is connected with the reductor fixed support, and rear end is connected with the execution rod rear end.Driving stem consists of four thin bars, and Yu Qi center, small sheave edge, on a horizontal line, guarantees that lineoutofservice signal pull can not produce the component of other directions in transmittance process, causes the loss of power.Driving stem stretches out forward through reductor fixed support 11 and reductor shaft bearing 7.The nonrotational part 6 in spherical universal joint is affixed with execution bar external part, and clutch mechanism leg driver element external part 5 is connected with clutch mechanism leg penetration type.Consult Fig. 7, the clutch mechanism leg is by expansion link outer tube 50, inner tube 54, and spherical universal joint 53, clutch coupling presss from both sides 52 plates and forms.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the clutch pedal folder.The servomotor of clutch drive rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with clutch mechanism leg plug-in type, driving clutch pedipulator solenoidoperated cluthes pedal.Drive linear displacement transducer 8 by driving stem in clutch mechanical leg driver, obtain the position of clutch mechanism leg.The clutch coupling driver element is by regulating rotating speed and the start-stop time of servomotor, thereby the movement velocity of controlling driving stem realizes the clutch mechanism leg and reclaims the adjusting of speed, reached in automobile starting and shift process the requirement to the clutch operating speed, reduce shift process and impact, guaranteed the ride comfort of automobile starting and gearshift.
Consult Fig. 5, detent pedipulator driver element by servomotor 29 as power source, reductor 28 hugs formula with servomotor 29 employings and is connected, and servomotor and reductor thereof are connected on rotary bottom plate 2 by support solid 27, and speed reducer output shaft is connected with bearing 34 by axle sleeve 23.It is 23 affixed that large pulley 24 and speed reducer output shaft overlap, and small sheave 26 is arranged on pivot pin 25.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem rear end are affixed.Compress Spring 32 is enclosed within driving stem 31 outsides, and front end is connected with the reductor fixed support, and rear end is connected with the execution rod rear end.Driving stem stretches out forward through reductor fixed support and reductor shaft bearing.The nonrotational part 21 in spherical universal joint is affixed with execution bar external part, and rotating part 20 is connected with detent pedipulator penetration type.Consult Figure 12, the detent pedipulator is by expansion link outer tube 83, inner tube 87, and spherical universal joint 86, detent clamping plate 85 form.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the brake pedal folder.The servomotor of detent driver element rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with detent pedipulator plug-in type, drives the detent pedipulator to control brake pedal.Drive linear displacement transducer 33 by driving stem in detent pedipulator driver element, obtain the position of detent pedipulator.Detent pedipulator driver element is by controlling the rotating speed of servomotor, follow the long duration test working condition requirement, the time that regulating brake pedal folder is trampled brake pedal, change the retarded velocity in Motor Vehicle Braking Procedure, guarantees the accuracy of car speed to the working condition requirement speed tracking.
Consult Fig. 6, throttle pedipulator control device by servomotor 42 as power source, reductor 41 hugs formula with the servomotor employing and is connected, and servomotor and reductor thereof are fixed on rotary bottom plate 2 by support 40, and speed reducer output shaft is connected with bearing 37 by axle sleeve 38.It is 38 affixed that large pulley 39 and speed reducer output shaft overlap, and small sheave 47 is arranged on pivot pin 48.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on large pulley, by small sheave, makes wire rope direction of motion vertical with the large pulley sense of rotation, and the other end and driving stem rear end are affixed.Compress Spring 44 is enclosed within driving stem 45 outsides, and front end is connected with reductor fixed support 40, and rear end is connected with execution pole socket 43.Driving stem stretches out forward through reductor fixed support and reductor shaft bearing.The nonrotational part 36 in spherical universal joint is affixed with execution bar external part, and rotating part 35 is connected with throttle pedipulator penetration type.Consult Figure 13, the throttle pedipulator is by expansion link outer tube 88, inner tube 92, and spherical universal joint 91, throttle clamping plate 90 form.Inner tube is nonrotationally held and is connected with the spherical universal joint, and rotating part is threaded with the gas pedal folder.The servomotor of accelerator drive device rotates and pulls steel wire tow line, and stay cord is by the pulley conversion direction, and Compress Spring, pull driving stem to travel forward, and driving stem stretches out end and is connected with throttle pedipulator plug-in type, drives the throttle pedipulator to control gas pedal.Drive linear displacement transducer 46 by driving stem in throttle pedipulator driver element, obtain the position of throttle pedipulator, control accurately gas pedal, realize that vehicle accelerates, the target call that speed stabilizing is travelled.
Consult Fig. 7～10, the engage a gear action can be decomposed into the action of block selecting and two vertical direction of gearshift, need to realize the degree of freedom motion of gear level sleeve 69 both directions.Gear shifting manipulator is by block selecting servomotor 57 and gearshift servomotor 62, block selecting axle 73, and shifting shaft 58, large arm I 63, large arm II 66, large arm III 78, forearm I 67, forearm II 71, L shaped regulating arm I 68, L shaped regulating arm II 70, gear level sleeve 69 forms.Block selecting servomotor 57 hugs formula with its reductor 75 and is connected, and speed reducer output shaft is connected with block selecting axle 73 by shaft coupling 74.Large arm III 78 bottoms are connected with block selecting axle 73 by bearing pin, and top is connected with elbow joint.Large arm I 63 is connected with elbow joint with the top of large arm II 66, and its underpart connects and shifting shaft 58 by bearing pin 81.One end of forearm I 67 and forearm II 71 is by connecting hole, and with the external part elbow joint axle II 64 of elbow joint, 65 lockings of elbow joint axle I connect respectively, and the other end is connected with two L-type regulating arms respectively.Gear level sleeve 69, by wrist connecting link I 76 and II 77, is connected with two L shaped regulating arms respectively.Adjust the position adjustments hole of L-type regulating arm I 68 and II 70, can change the entire length of forearm, adjust the front and back position of gear level sleeve.Regulate the adjustment hole of wrist connecting link I 76 and II 77, can regulate the position, left and right of gear level sleeve.
Consult Fig. 9～10, elbow joint connects large arm I 63, large arm II 66 and large arm III 78.Elbow joint is by elbow joint axle II 64, elbow joint axle I 65, and elbow joint bracing strut I 79, elbow joint bracing strut II 80, bearing pin 81 forms.Elbow joint axle I 65 also can be rotated around support with elbow joint bracing strut I 79 and 80 sockets of elbow joint bracing strut II, elbow joint bracing strut I 79 is connected with the top of large arm I 63 and large arm II 66 respectively by bearing pin 81, and elbow joint bracing strut II 80 is connected with the top of large arm III 78 by bearing pin.Elbow joint axle II 64 also can rotate around it with 79 sockets of elbow joint bracing strut I, and elbow joint bracing strut I 79 is connected with large arm I 63 and large arm II 66 respectively by bearing pin 81.
In operating process, the length of adjusting bolt 4, the angle that can regulate removable bottom, obtain the position of pedipulator driver element and corresponding pedal, coordinates the direction of regulating the spherical universal joint, changes the length of corresponding pedipulator, realizes the installation of drive robot.
After drive robot installs on vehicle, know and teach journey, take clutch pedal as the example explanation, press down clutch pedal on earth, computing machine sends instruction and controls servomotor to the clutch mechanism leg, servomotor rotates, the wire rope that drive is wrapped on speed reducer output shaft rotates, commutate and pull driving stem by small sheave, Compress Spring, travel forward driving stem, when driving stem stretches out end while contacting with tube section outside the clutch mechanism leg, computing machine sends stop signal, and clutch mechanism leg driver element reclaims, and has obtained the stroke of clutch pedal.The acquisition of brake pedal stroke and gas pedal stroke by that analogy.
Claims (5)
1. a gear shift manipulator used in automobile test, comprise the block selecting motor, shift motor, by the motor-driven block selecting axle of block selecting, the shifting shaft driven by shift motor, large arm I, large arm II, large arm III, the forearm I, the forearm II, two L shaped regulating arms, the wrist connecting link, elbow joint and gear level sleeve, described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I, elbow joint bracing strut II and bearing pin, elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II are flexibly connected, elbow joint bracing strut I is connected with the top of large arm I and large arm II respectively by bearing pin, elbow joint bracing strut II is connected with the top of large arm III by bearing pin, elbow joint axle II and elbow joint bracing strut I are flexibly connected, the block selecting axle is connected with the bottom of large arm III by bearing pin, and large arm I and large arm II bottom are connected to shifting shaft by bearing pin, one end of forearm I is connected with the locking of elbow joint axle I, an end of forearm II is connected with the locking of elbow joint axle II, the forearm I is connected with a L-type regulating arm respectively with the forearm II other end separately, and the gear level sleeve is connected with two L shaped regulating arms respectively by the wrist connecting link.
2. gear shift manipulator used in automobile test according to claim 1, is characterized in that, described gear shift manipulator used in automobile test comprises the angular displacement sensor of the movement position for obtaining sleeve, and its output is for controlling the gearshift action.
3. gear shift manipulator used in automobile test according to claim 1, is characterized in that, the block selecting motor is connected with its reductor, and speed reducer output shaft is connected with the block selecting axle by shaft coupling.
4. gear shift manipulator used in automobile test according to claim 1, is characterized in that, shift motor is connected with its reductor, and speed reducer output shaft is connected with shifting shaft by shaft coupling.
5. gear shift manipulator used in automobile test according to claim 1, is characterized in that, is provided with the position adjustments hole of the entire length for changing forearm on two L-type regulating arms; On the wrist connecting link, be provided with for regulating the adjustment hole of gear level sleeve position.
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| CN 201110264354 CN102384850B (en) | 2011-09-07 | 2011-09-07 | Gear shift manipulator used in automobile test |
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Families Citing this family (2)
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| CN104227709B (en) * | 2014-09-03 | 2015-12-30 | 中国科学院合肥物质科学研究院 | Based on car gear shifting manipulator and the control method thereof of Spatial Parallel quadric chain |
| CN104792521B (en) * | 2014-12-19 | 2017-08-29 | 吉林大学 | A kind of automotive synchronizer test bench gear shifting manipulator and its control device |
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| US4495801A (en) * | 1981-07-15 | 1985-01-29 | Mitsubishi Denki Kabushiki Kaisha | Manipulator for shifting speed changing gears in automotive vehicles |
| EP0860692A2 (en) * | 1997-02-25 | 1998-08-26 | FKI Engineering PLC | Robot for operating motor vehicle control |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
| WO2011069669A2 (en) * | 2009-12-11 | 2011-06-16 | Maha-Aip Gmbh & Co. Kg | Actuating device for a robot driver |
| CN202267607U (en) * | 2011-09-07 | 2012-06-06 | 中国汽车技术研究中心 | Rocking-arm-type gearshift used for automobile test |
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2011
- 2011-09-07 CN CN 201110264354 patent/CN102384850B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4495801A (en) * | 1981-07-15 | 1985-01-29 | Mitsubishi Denki Kabushiki Kaisha | Manipulator for shifting speed changing gears in automotive vehicles |
| EP0860692A2 (en) * | 1997-02-25 | 1998-08-26 | FKI Engineering PLC | Robot for operating motor vehicle control |
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
| CN1621990A (en) * | 2004-12-22 | 2005-06-01 | 东南大学 | Gas electric hybrid type driving robot for automobile test |
| WO2011069669A2 (en) * | 2009-12-11 | 2011-06-16 | Maha-Aip Gmbh & Co. Kg | Actuating device for a robot driver |
| CN202267607U (en) * | 2011-09-07 | 2012-06-06 | 中国汽车技术研究中心 | Rocking-arm-type gearshift used for automobile test |
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