CN108612843A - A kind of gearshift and method of pilotless automobile - Google Patents
A kind of gearshift and method of pilotless automobile Download PDFInfo
- Publication number
- CN108612843A CN108612843A CN201810495141.3A CN201810495141A CN108612843A CN 108612843 A CN108612843 A CN 108612843A CN 201810495141 A CN201810495141 A CN 201810495141A CN 108612843 A CN108612843 A CN 108612843A
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- Prior art keywords
- gear
- slide unit
- rack
- motor
- traversing
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- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
- F16H2059/082—Range selector apparatus with different modes
- F16H2059/086—Adaptive mode, e.g. learning from the driver
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The present invention proposes a kind of gearshift and method of pilotless automobile, including pedestal, slide unit, shift handle attachment device, control driving mechanism, longitudinal moving mechanism and transverse moving mechanism, slide unit and the guide rail phase configuration on pedestal, slide unit is vertically moved along pedestal, shift handle attachment device is set to slide unit rear end face, it is connected by the longitudinal moving mechanism between pedestal and slide unit, transverse moving mechanism is set to inside slide unit, it is connected with longitudinal moving mechanism, controls the start and stop and steering of driving mechanisms control longitudinal moving mechanism and transverse moving mechanism.The present invention can realize moving freely for shift handle vertical and horizontal, simple in structure, small, transmission efficiency.
Description
Technical field
The invention belongs to the gearshifts and side of the technical field of automobile making more particularly to a kind of pilotless automobile
Method.
Background technology
With the fast development of sensor technology, computer technology and control technology, some technologies of unmanned vehicle start to walk
Into in actual life.In well known unmanned field, manual-gear vehicle gearshift is mostly that mechanical part is constituted, and is changed in realization
In the vertical and horizontal moving process of block handle, it cannot be guaranteed that precision, causes gear that cannot stablize and accurately reaches designated position,
Influence the requirement that unmanned automobile accurately controls speed.In pilotless automobile retrofit process, shift process will not only make to change
Block handle realizes vertical and horizontal movement, and strictly to control shift precision each time.If proposing that one kind is driven at nobody
The field of sailing can realize the device of gear free switching, can not only realize the vertical and horizontal movement of shift handle, Er Qieti
Product is small, can ensure shift precision each time, in the unmanned repacking field of automobile, have a vast market application prospect.
Invention content
Technical problem to be solved by the present invention lies in view of the above problems, provide a kind of pilotless automobile
Pilotless automobile shift handle vertical and horizontal not only may be implemented by controlling two motors in gearshift and method
Free switching, and the precision shifted gears each time can be controlled.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of gearshift of pilotless automobile,
It is characterised in that it includes pedestal, slide unit, shift handle attachment device, control driving mechanism, longitudinal moving mechanism and transverse shifting
Mechanism, the slide unit and the guide rail phase configuration on pedestal, slide unit are vertically moved along pedestal, the shift handle attachment device
It set on slide unit rear end face, is connected by the longitudinal moving mechanism between the pedestal and slide unit, the transverse moving mechanism is set
Inside slide unit, it is connected with longitudinal moving mechanism, the control driving mechanisms control longitudinal moving mechanism and transverse moving mechanism
Start and stop and steering.
By said program, the control driving mechanism include controller, left and right motor driver, left and right motor and a left side,
Right encoder, the controller are connected with left and right motor driver and left and right encoder respectively by cable, and left and right motor drives
Dynamic device is connected with left and right motor respectively, and left and right motor output end is connected with retarder respectively, retarder output end respectively with it is left,
Right driving gear is connected.
By said program, the longitudinal moving mechanism includes left and right cylinder rack, left and right cylinder rack one end and fixation
In the oil-free bushing phase configuration on pedestal, the other end and the oil-free bushing phase configuration being fixed on slide unit, left and right cylinder rack
One end is meshed with the left and right driving gear respectively.
By said program, the transverse moving mechanism include traversing gear set, spur rack, traversing, the traversing gear
Group is meshed with the other end of left and right cylinder rack respectively, and the spur rack is set on the traversing rear end face, traversing
With the horizontal slide rail phase configuration on slide unit, transversely sliding rail transverse shifting.
By said program, the traversing gear set includes left and right transmission gear and forward and backward transmission gear, the left and right biography
Moving gear is meshed with the other end of left and right cylinder rack respectively, and the forward pass moving gear is set between left and right transmission gear,
It is meshed with left and right transmission gear, the final drive gear is set between forward pass moving gear and the spur rack, with forward pass moving teeth
Wheel and spur rack are meshed.
By said program, the horizontal slide rail be cylindrical bar, the cylindrical bar level be set to the slide unit in, two ends with
Slide unit is connected, and described traversing is arranged on cylindrical bar, horizontally slips along cylindrical bar.
A kind of process for gear of pilotless automobile, which is characterized in that including following content：First according to the vehicle of application
The position of each gear is demarcated, encoder and controller record the position of each gear, and left and right circle is detected by encoder
The distance of column rack movement, and signal is passed into controller, the position where shift handle is calculated, when controller receives
When shift order, moving direction and the movement duration needed for distance and left and right motor that controller calculates left and right cylinder rack
And steering, driver publication order, controls movement duration and the steering of left and right motor to left and right；
When controller receives the order of gear forward movement, left motor rotates in the forward direction, and right motor reversely rotates, left,
Right motor speed is identical, and left and right driving gear drives left and right cylinder rack to be moved forward with identical speed respectively, left and right biography
Moving gear is rotated clockwise and is rotated counterclockwise respectively, and the forward pass moving gear being meshed with left and right transmission gear will not rotate, quilt
Locked, left and right cylinder rack is engaged with left and right transmission gear, to drive slide unit integrally along the guide rail on pedestal to Forward
It is dynamic, drive shift handle attachment device to move forward, to drive gear to move forward；It is moved back when controller receives gear
When dynamic order, left motor reversely rotates, and right motor rotates in the forward direction, and left and right motor speed is identical, left and right driving gear difference
Left and right cylinder rack is driven to be moved backward with identical speed, the rotation and clockwise rotation counterclockwise respectively of left and right transmission gear
Turn, the forward pass moving gear being meshed with left and right transmission gear will not rotate, and be locked, left and right cylinder rack and left and right transmission
Gear engages, and to drive slide unit integrally to be moved backward along the guide rail on pedestal, shift handle attachment device is driven to move back
It is dynamic, to drive gear to move backward；
When controller receives the order that gear is moved to the left, left motor rotates in the forward direction, and right motor rotates in the forward direction, and turns
Speed is identical, and left Cylinder Gear moves forward, and right side cylinder rack moves backward, and movement velocity is identical, and left and right transmission gear is all suitable
Hour hands rotate, and forward pass moving gear rotates counterclockwise, drive final drive gear to rotate clockwise, spur rack is moved to the left, traversing
Also it is moved to the left, to drive gear to be moved to the left；When controller receives the order that gear moves right, left motor is reversed
Rotation, right motor reversely rotates, and rotating speed is identical, and left Cylinder Gear moves backward, and right side cylinder rack moves forward, and moves speed
Spend identical, left and right transmission gear all rotates counterclockwise, and forward pass moving gear rotates clockwise, and final drive gear is driven to revolve counterclockwise
Turn, spur rack moves right, and traversing also moves right, to drive gear to move right.
The beneficial effects of the invention are as follows：A kind of gearshift and method of pilotless automobile are provided, control can be passed through
The rotating speed of device control and the free switching for turning to the vertical and horizontal for realizing gear；For different vehicles to gear into rower
It is fixed, it can be adapted for a variety of manual gear vehicles；It is demarcated by encoder, precision is higher.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Wherein：1. left motor, 2. pedestals, 3. left cylinder racks, 4. left encoders, 5. Left Drive gears, 6. slide units, 7. is straight
Rack, 8. right motors, 9. right cylinder racks, 10. right encoders, 11. right transmission gears, 12. forward pass moving gears are driven after 13.
Gear, 14. horizontal slide rails, 15. traversing, 16. controllers, 17. right motor drivers, 18. left motor drivers, 19. shifts
Handle connecting device.
Specific implementation mode
To more fully understand the present invention, with reference to the accompanying drawings and examples to further description of the present invention.
As shown in Figure 1, a kind of gearshift of pilotless automobile, including pedestal 2, slide unit 6, shift handle attachment device
19, driving mechanism, longitudinal moving mechanism and transverse moving mechanism, slide unit and the guide rail phase configuration on pedestal are controlled, the bottom of along
Seat longitudinal movement, shift handle attachment device are set to slide unit rear end face, are connected with shift handle, by vertical between pedestal and slide unit
It is connected to mobile mechanism, transverse moving mechanism is set to inside slide unit, is connected with longitudinal moving mechanism, and control driving mechanisms control is vertical
Start and stop and steering to mobile mechanism and transverse moving mechanism.
It includes controller 16, left motor driver 18, right motor driver 17, left motor 1, right motor to control driving mechanism
8 and left encoder 4, right encoder 10, controller be connected respectively with left and right motor driver and left and right encoder by cable,
Left and right motor driver is connected with left and right motor respectively, and left and right motor output end is connected with retarder respectively, retarder output
End is connected with left and right driving gear respectively.
Longitudinal moving mechanism includes left cylinder rack 3, right cylinder rack 9, left and right cylinder rack one end and is fixed on pedestal
On oil-free bushing phase configuration, the other end and the oil-free bushing phase configuration being fixed on slide unit, one end point of left and right cylinder rack
It is not meshed with left and right driving gear.
Transverse moving mechanism include traversing gear set, spur rack 7, traversing 15, traversing gear set respectively with left and right cylinder
The other end of rack is meshed, spur rack on traversing rear end face, traversing be set to 14 phase of horizontal slide rail on slide unit
It configures, transversely sliding rail transverse shifting.
Traversing gear set includes Left Drive gear 5, right transmission gear 11 and forward pass moving gear 12, final drive gear 13, left,
Right transmission gear is meshed with the other end of left and right cylinder rack respectively, and forward pass moving gear is set between left and right transmission gear,
It is meshed with left and right transmission gear, final drive gear is set between forward pass moving gear and spur rack, with forward pass moving gear and straight-tooth
Item is meshed.
Horizontal slide rail is cylindrical bar, and level is set in slide unit, and two ends are connected with slide unit, and traversing is arranged in cylindrical bar
On, it horizontally slips along cylindrical bar.
The method shifted gears using the present invention is as follows：The position of each gear is demarcated according to the vehicle of application first,
Encoder and controller record the position of each gear, the distance of left and right cylinder rack movement are detected by encoder, and will
Signal passes to controller, calculates the position where shift handle, and when controller receives shift order, controller calculates
Go out moving direction and the movement duration needed for distance and left and right motor and the steering of left and right cylinder rack, to left and right driver
Publication order, controls movement duration and the steering of left and right motor；
When controller receives the order of gear forward movement, left motor rotates in the forward direction, and right motor reversely rotates, left,
Right motor speed is identical, and left and right driving gear drives left and right cylinder rack to be moved forward with identical speed respectively, left and right biography
Moving gear is rotated clockwise and is rotated counterclockwise respectively, and the forward pass moving gear being meshed with left and right transmission gear will not rotate, quilt
Locked, left and right cylinder rack is engaged with left and right transmission gear, to drive slide unit integrally along the guide rail on pedestal to Forward
It is dynamic, drive shift handle attachment device to move forward, to drive gear to move forward；It is moved back when controller receives gear
When dynamic order, left motor reversely rotates, and right motor rotates in the forward direction, and left and right motor speed is identical, left and right driving gear difference
Left and right cylinder rack is driven to be moved backward with identical speed, the rotation and clockwise rotation counterclockwise respectively of left and right transmission gear
Turn, the forward pass moving gear being meshed with left and right transmission gear will not rotate, and be locked, left and right cylinder rack and left and right transmission
Gear engages, and to drive slide unit integrally to be moved backward along the guide rail on pedestal, shift handle attachment device is driven to move back
It is dynamic, to drive gear to move backward；
When controller receives the order that gear is moved to the left, left motor rotates in the forward direction, and right motor rotates in the forward direction, and turns
Speed is identical, and left Cylinder Gear moves forward, and right side cylinder rack moves backward, and movement velocity is identical, and left and right transmission gear is all suitable
Hour hands rotate, and forward pass moving gear rotates counterclockwise, drive final drive gear to rotate clockwise, spur rack is moved to the left, traversing
Also it is moved to the left, to drive gear to be moved to the left；When controller receives the order that gear moves right, left motor is reversed
Rotation, right motor reversely rotates, and rotating speed is identical, and left Cylinder Gear moves backward, and right side cylinder rack moves forward, and moves speed
Spend identical, left and right transmission gear all rotates counterclockwise, and forward pass moving gear rotates clockwise, and final drive gear is driven to revolve counterclockwise
Turn, spur rack moves right, and traversing also moves right, to drive gear to move right.
Above is only presently preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this,
Therefore the equivalence changes done according to scope of the present invention patent, still belong to protection scope of the present invention.
Claims (7)
1. a kind of gearshift of pilotless automobile, which is characterized in that including pedestal, slide unit, shift handle attachment device, control
Driving mechanism, longitudinal moving mechanism and transverse moving mechanism processed, the slide unit and the guide rail phase configuration on pedestal, slide unit edge
Pedestal vertically moves, and the shift handle attachment device is set to slide unit rear end face, by described vertical between the pedestal and slide unit
It is connected to mobile mechanism, the transverse moving mechanism is set to inside slide unit, is connected with longitudinal moving mechanism, the control driving machine
Structure controls the start and stop and steering of longitudinal moving mechanism and transverse moving mechanism.
2. a kind of gearshift of pilotless automobile according to claim 1, which is characterized in that the control driving machine
Structure includes controller, left and right motor driver, left and right motor and left and right encoder, the controller by cable respectively with
Left and right motor driver and left and right encoder are connected, and left and right motor driver is connected with left and right motor respectively, left and right motor
Output end is connected with retarder respectively, and retarder output end is connected with left and right driving gear respectively.
3. a kind of gearshift of pilotless automobile according to claim 2, which is characterized in that the longitudinal movement machine
Structure includes left and right cylinder rack, left and right cylinder rack one end and the oil-free bushing phase configuration being fixed on pedestal, the other end with
It is mutually nibbled with the left and right driving gear respectively one end of the oil-free bushing phase configuration being fixed on slide unit, left and right cylinder rack
It closes.
4. a kind of gearshift of pilotless automobile according to claim 3, which is characterized in that the transverse shifting machine
Structure include traversing gear set, spur rack, traversing, the other end of the traversing gear set respectively with left and right cylinder rack is mutually nibbled
Close, the spur rack is set on the traversing rear end face, traversing with the horizontal slide rail phase configuration on the slide unit, transversely
Sliding rail transverse shifting.
5. a kind of gearshift of pilotless automobile according to claim 4, which is characterized in that the traversing gear set
Including left and right transmission gear and forward and backward transmission gear, the left and right transmission gear other end with left and right cylinder rack respectively
It is meshed, the forward pass moving gear is set between left and right transmission gear, is meshed with left and right transmission gear, the rear driving cog
Wheel is set between forward pass moving gear and the spur rack, is meshed with forward pass moving gear and spur rack.
6. a kind of gearshift of pilotless automobile according to claim 4, which is characterized in that the horizontal slide rail is
Cylindrical bar, the cylindrical bar level are set in the slide unit, and two ends are connected with slide unit, and described traversing is arranged in cylindrical bar
On, it horizontally slips along cylindrical bar.
7. a kind of process for gear of pilotless automobile, which is characterized in that including following content：First according to the vehicle mark of application
The position of each fixed gear, encoder and controller record the position of each gear, and left and right cylinder is detected by encoder
The distance of rack movement, and signal is passed into controller, the position where shift handle is calculated, is changed when controller receives
When gear order, controller calculate the moving direction of left and right cylinder rack and the movement duration needed for distance and left and right motor and
It turns to, driver publication order, controls movement duration and the steering of left and right motor to left and right；
When controller receives the order of gear forward movement, left motor rotates in the forward direction, and right motor reversely rotates, left and right electricity
Machine rotating speed is identical, and left and right driving gear drives left and right cylinder rack to be moved forward with identical speed respectively, left and right driving cog
Wheel is rotated clockwise and is rotated counterclockwise respectively, and the forward pass moving gear being meshed with left and right transmission gear will not rotate, and be locked
Extremely, left and right cylinder rack is engaged with left and right transmission gear, to drive the whole guide rail along on pedestal of slide unit to move forward,
Shift handle attachment device is driven to move forward, to drive gear to move forward；It is moved backward when controller receives gear
Order when, left motor reversely rotates, and right motor rotates in the forward direction, and left and right motor speed is identical, left and right driving gear band respectively
Left and right cylinder rack is moved to move backward with identical speed, left and right transmission gear is rotated and is rotated clockwise counterclockwise respectively,
The forward pass moving gear being meshed with left and right transmission gear will not rotate, and be locked, left and right cylinder rack and left and right transmission gear
Engagement drives shift handle attachment device to move backward to drive slide unit integrally to be moved backward along the guide rail on pedestal, from
And gear is driven to move backward；
When controller receives the order that gear is moved to the left, left motor rotates in the forward direction, and right motor rotates in the forward direction, and rotating speed phase
Together, left Cylinder Gear moves forward, and right side cylinder rack moves backward, and movement velocity is identical, and left and right transmission gear is all clockwise
Rotation, forward pass moving gear rotates counterclockwise, and final drive gear is driven to rotate clockwise, and spur rack is moved to the left, traversing also to
It moves left, to drive gear to be moved to the left；When controller receives the order that gear moves right, left motor reversely revolves
Turn, right motor reversely rotates, and rotating speed is identical, and left Cylinder Gear moves backward, and right side cylinder rack moves forward, and movement velocity
Identical, left and right transmission gear all rotates counterclockwise, and forward pass moving gear rotates clockwise, and final drive gear is driven to rotate counterclockwise,
Spur rack moves right, and traversing also moves right, to drive gear to move right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495141.3A CN108612843B (en) | 2018-05-22 | 2018-05-22 | Gear shifting device and method for unmanned automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810495141.3A CN108612843B (en) | 2018-05-22 | 2018-05-22 | Gear shifting device and method for unmanned automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108612843A true CN108612843A (en) | 2018-10-02 |
| CN108612843B CN108612843B (en) | 2020-01-14 |
Family
ID=63664045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810495141.3A Active CN108612843B (en) | 2018-05-22 | 2018-05-22 | Gear shifting device and method for unmanned automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108612843B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014088890A (en) * | 2012-10-29 | 2014-05-15 | Jtekt Corp | Electric actuator and variable speed driving device |
| CN105020382A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Automatic gear shifting mechanism based on manual transmission automobile |
| CN204852298U (en) * | 2015-05-29 | 2015-12-09 | 长安大学 | Unmanned gearshift |
| CN205618654U (en) * | 2016-03-03 | 2016-10-05 | 西京学院 | Automatically controlled automatic gearbox of non - highway expanded letter tipper controls actuating mechanism |
| CN106546427A (en) * | 2016-12-07 | 2017-03-29 | 福建工程学院 | A kind of automotive speed changer dry run testing stand |
-
2018
- 2018-05-22 CN CN201810495141.3A patent/CN108612843B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014088890A (en) * | 2012-10-29 | 2014-05-15 | Jtekt Corp | Electric actuator and variable speed driving device |
| CN105020382A (en) * | 2014-04-29 | 2015-11-04 | 中国科学院沈阳自动化研究所 | Automatic gear shifting mechanism based on manual transmission automobile |
| CN204852298U (en) * | 2015-05-29 | 2015-12-09 | 长安大学 | Unmanned gearshift |
| CN205618654U (en) * | 2016-03-03 | 2016-10-05 | 西京学院 | Automatically controlled automatic gearbox of non - highway expanded letter tipper controls actuating mechanism |
| CN106546427A (en) * | 2016-12-07 | 2017-03-29 | 福建工程学院 | A kind of automotive speed changer dry run testing stand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108612843B (en) | 2020-01-14 |
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