CN105729471A - Gear shifting performance offline detecting device of manual transmission - Google Patents
Gear shifting performance offline detecting device of manual transmission Download PDFInfo
- Publication number
- CN105729471A CN105729471A CN201610181471.6A CN201610181471A CN105729471A CN 105729471 A CN105729471 A CN 105729471A CN 201610181471 A CN201610181471 A CN 201610181471A CN 105729471 A CN105729471 A CN 105729471A
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- CN
- China
- Prior art keywords
- linear module
- axis
- bearing
- transfer block
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses a gear shifting performance offline detecting device of a manual transmission. The device comprises X-axle, Y-axle and Z-axle linear modules; a rotating joint is added between the Y-axle linear module and the Z-axle linear module; a centering and torque measuring mechanism is fixed on a slide table of the Z-axle linear module; the rotating joint includes a stepper motor, a speed reducer, an adapting block, a support and a cross roller bearing; and the centering and torque measuring mechanism includes a stepper motor, a speed reducing structure, a first bracket, a torque sensor, an adapting block, a second bracket, a three-way force sensor, a cross roller bearing, a mandrel and a two-jaw cylinder. As the rotating joint is added between the Y-axle linear module and the Z-axle linear module, the Z-axle linear module can rotate around the Y-axle linear module to adapt the attitude variation of gear shifting rocker arm heads of manual transmissions with different model numbers; and the device has the advantages of automatic centering of a manipulator and a rocker arm, compact structure, easy assembly, integrated control and low cost.
Description
Technical field
The present invention relates to a kind of automobile performance test device, particularly relate to a kind of dynamic choosing/shift property automatic testing manipulator for manual gear of vehicle off-line test testing stand.
Background technology
Current existing choosing/gear shift test device, its main purpose is, by imitation staff, the operational motion of gear shifting handle is realized transmission shifting operation, can simply record the size of choosing/berth-changing strength simultaneously.Said method needs manually to be connected on gear shifting rocking arm head by gear shift pulling cable, but owing to product quantity is big in actual test of rolling off the production line, Product checking beat is fast, and institute's method described above can not meet the requirement quickly detecting manual transmission gearshifts performance.
The existing six degree of freedom mechanical hand in market adds two degree of freedom than common right angle coordinate manipulator, so the rotary motion that can pass through 6 revolute pairs accurately captures gear shifting rocking arm head and rocker head is pushed into required gear, and adapt to gear shifting rocking arm head position and attitudes vibration between different model variator, but these six degree of freedom mechanical hand prices are general all sufficiently expensive.
Therefore, for above-mentioned technology and Cost Problems, it is necessary to propose one and can capture and accurate centering gear shifting rocking arm head, do not increase additional moment, efficiently and accurately, cheap device.
Summary of the invention
In order to solve above-mentioned technology and Cost Problems, the invention provides a kind of simple in construction, gear shift efficiency height, capture the manual transmission gearshifts performance off-line test device that centering is reliable, with low cost.
The present invention adopts the following technical scheme that a kind of manual transmission gearshifts performance off-line test device, including the linear module of X-axis, the linear module of Y-axis and z axis module, it is characterized in that: the linear module of described X-axis is connected with the linear module of Y-axis, rotary joint is arranged on the back side of the linear module of Y-axis, z axis module and rotary joint link together, centering and torque measuring mechanism are fixed on the slide unit of z axis module, can move in Z-axis direction；
Described rotary joint includes motor and reductor, transfer block, bearing body and the first crossed roller bearing, and motor and reductor are arranged on bearing body, and bearing body is connected on the linear module of Y-axis；The outer ring of the first crossed roller bearing is fixed on the output shaft of transfer block, motor and reductor and is connected in transfer block, and inner ring and the linear module of Y-axis of transfer block and the first crossed roller bearing are fixed together；
Described centering and torque measuring mechanism, including motor and slowing-down structure, the first bearing, torque sensor, transfer block, the second bearing, three-dimensional force transducer, crossed roller bearing, mandrel and two pawl cylinders, wherein the first bearing and the second bearing are connected on one block of sheet material, and this sheet material is connected on the slide unit of z axis module again；Motor and slowing-down structure are connected on the first bearing, and motor is connected with the input of torque sensor with the output shaft of slowing-down structure, and the outfan of torque sensor and transfer block link together, and transfer block is connected with mandrel；The input of three-dimensional force transducer is connected with bearing, and the outfan of three-dimensional force transducer is connected with the outer ring of crossed roller bearing, and two pawl cylinders are arranged on the lower end of mandrel.
The manual transmission gearshifts performance off-line test device of the present invention, hinge structure, have the advantages that
1, rotary joint is added between the linear module of Y-axis and z axis module so that z axis module can rotate around the linear module of Y-axis, it is achieved mechanical hand is adapted to the function of different model manual transmission gearshifts rocker head attitudes vibration.
2, the centering of this device and torque measuring mechanism, it is achieved that arranging torque sensor and three-dimensional force transducer in minimum space, by this structure, this device can realize centering and torque measurement non-interference when simultaneously.
3, in centering process, when mechanical hand adjusts displacement or the rotation amount of each degree of freedom, amount of force and direction signal between jaw and the rocker head that can be fed back by three-dimensional force transducer, constantly revise the position gap at relative rocker head center, jaw center, realize the automatic centering of mechanical hand and rocking arm, eliminate in operation gear shifting rocking arm rotary course, because the additional moment that center of rotation does not cause on the same line.
4, the present invention can directly clamp gear shifting rocking arm head, eliminates the installation gear shift pulling cable process wasted time and energy, it is achieved thereby that efficiently and accurately choosing/gear shift in actually detected process.
5, mechanical hand is after completing automatic centering, can directly measure berth-changing strength and the gear shift stroke of variator, therefore can gear selecting/shift property be evaluated in gearshift procedure.
6, the advantage that the present invention is of compact construction, is easily assembled to, integrating control, cost are low.
Accompanying drawing explanation
Fig. 1 is manual transmission gearshifts performance off-line test apparatus structure schematic diagram；
Fig. 2 is manual transmission shifting performance off-line test device partial sectional view.
In Fig. 1: the 1 linear module of X-axis；The 2 linear modules of Y-axis；3 rotary joints；4 z axis modules；5 centerings and torque measuring mechanism；
In Fig. 2: 6 motors and reductor, 7 transfer blocks, 8 bearing bodies, 9 first crossed roller bearings；10 motors and slowing-down structure；11 first bearings；12 torque sensors；13 transfer blocks；14 second bearings；15 three-dimensional force transducers；16 crossed roller bearings；17 mandrels；18 2 pawl cylinders.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.Wherein, the exemplary term such as such as upper and lower, left and right are adopted for description, it is therefore intended that help reader understanding, and be not intended to limit.
When being embodied as: as shown in Figure 1, 2, manual transmission gearshifts performance off-line test device of the present invention, including: the linear module 1 of X-axis, the linear module 2 of Y-axis, rotary joint 3, z axis module 4, centering and torque measuring mechanism 5, motor and reductor 6, transfer block 7, bearing body 8, the first crossed roller bearing 9.Motor and reductor 10, the first bearing 11, torque sensor 12, transfer block 13, the second bearing 4, three-dimensional force transducer 15, crossed roller bearing 16, mandrel 17 and two pawl cylinders 18 etc..
The linear module of described X-axis 1 is connected with the linear module 2 of Y-axis, is tightened together by both slide units by bolt in figure.Described rotary joint 3 arranges (fixing) back side at the linear module 2 of Y-axis.Described z axis module 4 links together with rotary joint 3, and described centering and torque measuring mechanism 5 are fixed on the slide unit of z axis module 4, can move axially at Z axis.
Described rotary joint 3 includes motor and reductor 6, transfer block 7, bearing body 8 and the first crossed roller bearing 9, and motor and reductor 6 are arranged on bearing body 8, are bolted on bearing body 8 in figure；Bearing body 8 is connected on the linear module 2 of Y-axis, is connected on the linear module 2 of Y-axis by the screwed hole of bottom in figure；The outer ring of the first crossed roller bearing 9 is fixed in transfer block 7, figure and is bolted on transfer block 7；The output shaft of motor and reductor 6 is connected in transfer block 7, figure is connected in transfer block 7 by flat key, inner ring and the linear module 2 of Y-axis of transfer block 7 and the first crossed roller bearing 9 are fixed together, and are fixed together by inner ring and the linear module 2 of Y-axis of stay bolt and the first crossed roller bearing 9 in figure.So, increasing torsion effect with moment of torsion through the deceleration carrying reductor with reductor 6 rotating speed out from motor, pass to transfer block 7 by flat key, transfer block 7 passes to the inner ring of the first crossed roller bearing 9 again, drives the linear module 2 of Y-axis to rotate.
Described centering and torque measuring mechanism 5, including motor and slowing-down structure the 10, first bearing 11, torque sensor 12, transfer block the 13, second bearing 14, three-dimensional force transducer 15, crossed roller bearing 16, mandrel 17 and two pawl cylinders 18, wherein the first bearing 11 and the second bearing 14 are connected on one block of sheet material (as being bolted), and this sheet material is connected on the slide unit of z axis module 4 (as being bolted) again.Motor and slowing-down structure 10 are connected on the first bearing 11, figure is bolted on the first bearing 11, motor is connected with the input of torque sensor 12 with the output shaft of slowing-down structure 10, together with motor is bolted with the input flange of torque sensor 12 with the output shaft flange of slowing-down structure 10, the outfan of torque sensor 12 and transfer block 13 link together, together with the flange of torque sensor 12 outfan is bolted with transfer block 13；Transfer block 13 is connected with mandrel 17, is connected with mandrel 17 by flat key in figure；Input and second bearing 14 of three-dimensional force transducer 15 connect, flange and second bearing 14 of three-dimensional force transducer 15 are bolted together, the outfan of three-dimensional force transducer 15 is connected with the outer ring of crossed roller bearing 16, and the outfan of three-dimensional force transducer 15 is linked together by the outer ring of bolt Yu crossed roller bearing 16；Mandrel 17 is connected with the inner ring of crossed roller bearing 16, the flange end of mandrel 17 is linked together by the inner ring of bolt Yu crossed roller bearing 16, and mandrel 17 is through the through hole in the middle of three-dimensional force transducer 15, the flange end of mandrel 17 still connects the interface of the instrument of different grasp force.Two pawl cylinders 18 are arranged on the lower end of mandrel 17, and two pawl cylinders can directly capture the gear-shifting rocker arm of variator.Said structure designs, it is achieved that the external force being subject in tool heads is passed to three-dimensional force transducer 15, by calculating the power of all directions of three-dimensional force transducer 15 feedback, it is achieved that the automatic centering of center of rotation.This design of through hole in the middle of mandrel 17 traverse three-dimensional force transducer 15, it is achieved that can realize measuring the function of real-time moment of torsion on the basis of automatic centering
When there being a collection of new model manual transmission needing detection shifting performance whether to meet design requirement, firstly the need of engineer by the motion of each degree of freedom of operated by handwheel mechanical hand, make jaw substantially with gear shifting rocking arm head centering (this process only need to operate once in the manual transmission of same model detects, and mechanical hand can remember this initial position).Then mechanical hand automatic control program is started, the jaw fed back by three-dimensional force transducer and gear shifting rocking arm contact forces size and Orientation signal are adjusted displacement or the rotation amount of each degree of freedom of mechanical hand by mechanical hand, constantly revise the position gap of jaw center of rotation and gear shifting rocking arm center, it is achieved jaw and the automatic centering of gear shifting rocking arm center.After centering completes, jaw clamping gear shifting rocking arm head, according to detection instruction, gear shift arm is pushed gear, in the process again by force feedback (three-dimensional force transducer 15 records) with whether position feedback (being recorded by the code device signal brief introduction of each motor) comprehensive descision has accurately pushed gear by gear shift arm smoothly.
In gearshift procedure, berth-changing strength required in each speed shift process of manual transmission and gear shift displacement size can be recorded by the torque sensor 12 of mechanical hand.
Below it is only the preferred embodiment of the present invention; need to point out be; for those skilled in the art under the premise without departing from the technical program, it is also possible to make some deformation and improvement, the technical scheme of above-mentioned deformation and improvement should be contemplated as falling within this application claims the scope of protection equally.
Claims (1)
1. a manual transmission gearshifts performance off-line test device, including the linear module of X-axis (1), the linear module of Y-axis (2 and z axis module (4), it is characterized in that: the linear module of described X-axis (1) is connected with the linear module of Y-axis (2), rotary joint (3) is arranged on the back side of the linear module of Y-axis (2), z axis module (4) and rotary joint (3) link together, centering and torque measuring mechanism (5) are fixed on the slide unit of z axis module (4), can move in Z-axis direction；
Described rotary joint (3) includes motor and reductor (6), transfer block (7), bearing body (8) and the first crossed roller bearing (9), motor and reductor (6) are arranged on bearing body (8), and bearing body (8) is connected on the linear module (2) of Y-axis；The outer ring of the first crossed roller bearing (9) is fixed in transfer block (7), the output shaft of motor and reductor (6) is connected in transfer block (7), and inner ring and the linear module of the Y-axis (2) of transfer block (7) and the first crossed roller bearing (9) are fixed together；
Described centering and torque measuring mechanism (5), including motor and slowing-down structure (10), the first bearing (11), torque sensor (12), transfer block (13), the second bearing (14), three-dimensional force transducer (15), crossed roller bearing (16), mandrel (17) and two pawl cylinders (18), wherein the first bearing (11) and the second bearing (14) are connected on one block of sheet material, and this sheet material is connected on the slide unit of z axis module (4) again；Motor and slowing-down structure (10) are connected on the first bearing (11), motor is connected with the input of torque sensor (12) with the output shaft of slowing-down structure (10), the outfan of torque sensor (12) and transfer block (13) link together, and transfer block (13) is connected with mandrel (17)；The input of three-dimensional force transducer (15) and the second bearing (14) connect, and the outfan of three-dimensional force transducer (15) is connected with the outer ring of crossed roller bearing (16), and two pawl cylinders (18) are arranged on the lower end of mandrel (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610181471.6A CN105729471B (en) | 2016-03-28 | 2016-03-28 | Manual transmission gearshifts performance off-line test device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610181471.6A CN105729471B (en) | 2016-03-28 | 2016-03-28 | Manual transmission gearshifts performance off-line test device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105729471A true CN105729471A (en) | 2016-07-06 |
| CN105729471B CN105729471B (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610181471.6A Expired - Fee Related CN105729471B (en) | 2016-03-28 | 2016-03-28 | Manual transmission gearshifts performance off-line test device |
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| Country | Link |
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| CN (1) | CN105729471B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106370406A (en) * | 2016-08-26 | 2017-02-01 | 科世达（上海）管理有限公司 | Shift-by-wire switch test device, system and method |
| CN106737588A (en) * | 2016-12-30 | 2017-05-31 | 金华市胜昌机械有限公司 | A kind of string for binding a plait machine transfer robot arm |
| CN107838914A (en) * | 2017-10-27 | 2018-03-27 | 歌尔股份有限公司 | Clamp device |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
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| US20060184155A1 (en) * | 2004-12-31 | 2006-08-17 | Rafael Fernandez-Sein | Manipulator and end effector for catheter manufacture |
| CN102384845A (en) * | 2011-11-29 | 2012-03-21 | 安徽巨一自动化装备有限公司 | On-line loading test stand shift mechanism of manual transmission |
| CN202994464U (en) * | 2012-12-28 | 2013-06-12 | 四川诚邦测控技术有限公司 | Manipulator automatic gear-shifting test apparatus |
| CN203993874U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
| CN104626098A (en) * | 2013-11-07 | 2015-05-20 | 罗普伺达机器人有限公司 | Rectangular coordinate robot combined with 3 degrees of freedom wrist structure |
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2016
- 2016-03-28 CN CN201610181471.6A patent/CN105729471B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060184155A1 (en) * | 2004-12-31 | 2006-08-17 | Rafael Fernandez-Sein | Manipulator and end effector for catheter manufacture |
| CN102384845A (en) * | 2011-11-29 | 2012-03-21 | 安徽巨一自动化装备有限公司 | On-line loading test stand shift mechanism of manual transmission |
| CN202994464U (en) * | 2012-12-28 | 2013-06-12 | 四川诚邦测控技术有限公司 | Manipulator automatic gear-shifting test apparatus |
| CN104626098A (en) * | 2013-11-07 | 2015-05-20 | 罗普伺达机器人有限公司 | Rectangular coordinate robot combined with 3 degrees of freedom wrist structure |
| CN203993874U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of mixed type industrial robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106370406A (en) * | 2016-08-26 | 2017-02-01 | 科世达（上海）管理有限公司 | Shift-by-wire switch test device, system and method |
| CN106370406B (en) * | 2016-08-26 | 2019-05-03 | 科世达（上海）管理有限公司 | A kind of test device of line traffic control shift switch, system and method |
| CN106737588A (en) * | 2016-12-30 | 2017-05-31 | 金华市胜昌机械有限公司 | A kind of string for binding a plait machine transfer robot arm |
| CN106737588B (en) * | 2016-12-30 | 2024-02-02 | 金华市胜昌科技股份有限公司 | Head rope machine shifts manipulator |
| CN107838914A (en) * | 2017-10-27 | 2018-03-27 | 歌尔股份有限公司 | Clamp device |
| CN108994862A (en) * | 2018-07-27 | 2018-12-14 | 南京理工大学 | A kind of size adjustable gear shifting manipulator |
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| Publication number | Publication date |
|---|---|
| CN105729471B (en) | 2018-02-02 |
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