CN110103707A - Gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line - Google Patents
Gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line Download PDFInfo
- Publication number
- CN110103707A CN110103707A CN201910485447.5A CN201910485447A CN110103707A CN 110103707 A CN110103707 A CN 110103707A CN 201910485447 A CN201910485447 A CN 201910485447A CN 110103707 A CN110103707 A CN 110103707A
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- slot
- line mould
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- 230000007246 mechanism Effects 0.000 title claims abstract description 55
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 44
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 abstract description 2
- 238000012857 repacking Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K20/00—Arrangement or mounting of change-speed gearing control devices in vehicles
- B60K20/02—Arrangement or mounting of change-speed gearing control devices in vehicles of initiating means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention provides a kind of gear formula autonomous driving vehicle automatic shift operating mechanisms arranged in a straight line, it is along gear the linear motion in direction and along the horizontal rectilinear motion of front and back shifting direction by the circular motion decomposing trajectories for keeping off handle, straight line mould group assembly converts moving horizontally for nut for servo motor by screw rod, horizontal applied force of the screw bolt-type outer ring and roll assembly to gear sliding slot on the right side of supporting block is converted by motor torque simultaneously, screw bolt-type outer ring and roll assembly while moving along a straight line in the horizontal direction with nut, gear moves back and forth sliding slot on the right side of supporting block relative to screw bolt-type outer ring and roll assembly, to complete gear shifting action；Mechanism is fitted closely with gear handle, can altitude simulation gear shifting action；The use of screw bolt-type outer ring and roll assembly not only increases the bearing capacity of sleeve mechanism, while reducing friction loss；Height adjustment bracket can be adjusted according to cab space, to adapt to most of driver's cabin, and not need repacking driver's cabin.
Description
Technical field
The invention belongs to automobile test automatic Pilot technical fields, are related to a kind of gear formula autonomous driving vehicle arranged in a straight line
Automatic shift operating mechanism.
Background technique
For autonomous driving vehicle, shift control mechanism can replace driver's completion to the switching task of gear.
Typically, for manual-gear vehicle, shift handle is in retaining groove along similar " king " word in entire shift process
The track of shape moves.Shift process is decoupled and is acted for block selecting with putting into gear two, and respectively by two motor drivens, so both
It can simplify the control algolithm of bar, and can be to avoid the interference between two movements.Existing shift control mechanism is mostly all
It is to be designed based on aforesaid way.The patent of invention of Publication No. CN105068595A provides a kind of mixed based on power/position
The tractor driving robot of control is closed, by the trapezoidal slide unit driving of twin shaft, movement of putting into gear is driven by electric pushrod for block selecting movement
Dynamic, sleeve mechanism occupied space is larger, and in order to guarantee that shift effectively, needs to adjust the height of electric pushrod end, general
Property it is poor, installation is complicated.The patent of invention of Publication No. CN102435442B discloses a kind of for the automatic of vehicle road test
Drive robot, wherein shift control mechanism is driven using ball screw, but executing agency is fixedly connected with gear handle, not
Consider gear the actual motion situation in shift process.It cannot the good true gear shift operation of simulation.
For the automatic catch automobile arranged in a straight line for gear, when converting gear, bar is always in automobile longitudinal plane
Movement.Therefore, it is outstanding to design a kind of automatic shift operating mechanism being specially mounted on gear formula autonomous driving vehicle arranged in a straight line
It is important.
Summary of the invention
The present invention provides a kind of gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line, the shift control machine
Structure is exclusively used in gear autonomous driving vehicle arranged in a straight line.Its compact overall structure, gear shift operation process and gear are actual motion
Track fitting degree is high, and closed-loop control realizes gear being accurately positioned, and the supporting structure of adjustment height can solve due to interior space
It is narrow, it has not been convenient to the problem of arranging automatic Pilot operating mechanism.
It is of the present invention the specific technical proposal is:
Gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line, is placed in interior copilot room, special
Sign is, can adjust the height adjustment bracket of height along the vertical direction including one, and using vehicle heading as front, height is adjusted
The straight line mould group assembly that can adjust position and fixation with left and right directions along the longitudinal direction, straight line mould group assembly are provided on section bracket
The straight line mould group assembly pedestal for the rectangular plate-like being arranged along the longitudinal direction including one is provided with one on straight line mould group assembly pedestal
A leading screw and nut mechanism driven by servo motor has the slideway of a rectangular plate-like to set below the screw rod in leading screw and nut mechanism
It sets on the upper surface of straight line mould group assembly pedestal, the nut in leading screw and nut mechanism is a rectangular block, and nut passes through following table
The nut sliding slot and slideway of face setting cooperate, and the upper surface of nut is fixedly connected with the level board of a L-shaped installing plate, L shape peace
A through-hole is provided at the vertical plate center of loading board, a screw bolt-type cam follower needle roller on the left of the vertical plate of L-shaped installing plate
A sleeve is set on the bolt of bearing, the bolt front end of screw bolt-type outer ring and roll assembly is worn with externally threaded bolt end
The hex nut spiral shell being located on the right side of the vertical plate of L-shaped installing plate with one is crossed after the through-hole at the vertical plate center of L-shaped installing plate
Line is connected and fixed, and the right end face of supporting block is provided with gear supporting block sliding slot by the gear of a rectangle from top to bottom, and gear is support
The cooperation of the bearing outer ring of block sliding slot and screw bolt-type outer ring and roll assembly makes screw bolt-type outer ring and roll assembly along gear on the right side of supporting block
Sliding slot reciprocal relative movement, one gear upper pinch block nesting the top of the gear handle of vehicle and will gear be fixed on gear prop up
In the left end face of bracer, keeping off has a gear that lower part gripping block is nested in the lower part of gear handle upper pinch block lower section and will keep off
Gear is fixed in the left end face of supporting block, the motor servo driver of servo motor is connected by controller and host computer
It connects.
Further technical solution includes:
The both ends of screw rod respectively pass through the bearing block with angular contact ball bearing and are supported on straight line mould group assembly pedestal
Both ends, servo motor are fixed on the rear end of straight line mould group assembly pedestal, and the output shaft of servo motor passes through plum coupling and silk
The rear end of bar is fixedly connected.
Be provided on height adjustment bracket one be located at straight line mould group assembly base right side and with straight line mould group assembly pedestal
Parallel grating scale, grating scale can adjust position and fixation, the grating ruler reading head of grating scale with left and right directions along the longitudinal direction
Upper surface be fixedly connected with the level board of a L shape connecting plate, the spiral shell in the vertical plate and leading screw and nut mechanism of L shape connecting plate
Female right end face is fixedly connected, and grating ruler reading head is connect by controller with host computer.
The height adjustment bracket includes the height adjustment bracket pedestal an of rectangular plate-like, height adjustment bracket pedestal
Two angles of front and the lower end of the swing rod of two rectangular rods are hinged, and the swing rod through slot of vertical direction is provided in the middle part of swing rod,
The swing rod side wall through slot of horizontal direction, height adjustment bracket bottom are provided on swing rod on the swing rod side wall of swing rod through slot two sides
Two angles at seat rear portion and the lower end of the support rod of two rectangular rods are hinged, and the support rod of horizontal direction is provided in the middle part of support rod
Through slot, after each support rod passes through the swing rod through slot of corresponding swing rod, the both ends of a double threaded screw are each passed through corresponding pendulum
Two fastening nut screw threads after the swing rod side wall through slot of bar and the support rod through slot of corresponding support rod and positioned at swing rod two sides
The support panel left and right sides of connection, a rectangular plate-like is symmetrically arranged with support panel vertical plate, and two support panels are vertical
The support panel vertical plate through slot of horizontal direction is symmetrically arranged on plate, the connection bolt of two swing rod upper ends passes through corresponding
It is connect after support panel vertical plate through slot with a nut thread, the upper end of two support rods and corresponding support panel vertical plate
Front it is hinged.
It is symmetrically arranged with the support panel through slot of vertical direction at left and right sides of support panel, support panel through slot is from bracket
Panel front extends to support panel rear portion, and there are two straight line mould group assembly branch at the both ends of two straight line mould group assembly support frames
Support connection bolt is connect after passing through corresponding support panel through slot with nut thread, makes two straight line mould group assembly support frames can
It is moved forward and backward and fixes along support panel through slot in support panel, the middle part of straight line mould group assembly support frame is relative to straight line mould
The both ends of group assembly support frame raise upward, and the position that straight line mould group assembly support frame raises upward is provided with straight line mould group assembly
Support frame through slot, it is logical that the scale grating connection bolt at the scale grating both ends of grating scale passes through corresponding straight line mould group assembly support frame
It is connect after slot with a nut thread, makes grating scale that can move left and right and fix between two straight line mould group assembly support frames.
4 bolts pass through after corresponding straight line mould group assembly support frame through slot with insertion straight line mould group assembly base lower surface
Nut thread connection, move left and right straight line mould group assembly pedestal can between two straight line mould group assembly support frames and solid
It is fixed.
Compared with prior art the invention has the benefit that
A kind of gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line provided by the invention, by gear in vapour
Circular motion decomposing trajectories in vehicle fore-and-aft plane are two linear motions, the feed screw nut's machine respectively driven by servo motor
Structure transmission the horizontal rectilinear motion along front and back shifting direction, and in shift process gear sliding slot on the right side of supporting block relative to
Screw bolt-type outer ring and roll assembly moves back and forth the linear motion along gear direction realized.Gear shift operation process and gear are practical fortune
Dynamic rail mark degree of fitting is high, can stablize and effectively bar be pushed to complete gear shifting action.
Upper pinch block gear is fixed on supporting block left end face by gear by gear by lower part gripping block, gear, and gear is under
Portion's gripping block, gear are as far as possible bonded the shape that upper pinch block is slotted gear handle, therefore handle and gear are kept off in mechanism motion process
Supporting block can be realized close connection, guarantee to move synchronously.
The use of screw bolt-type outer ring and roll assembly can not only be reduced when gear moves sliding slot on the right side of supporting block with respect to it
Friction energy loss keeps movement more smooth；And compared to the common pulley of same size, bearing capacity is higher, therefore
Keep mechanism more compact compact while bearing capacity needed for meeting.
In shift process, the displacement for keeping off handle is subtleer, and the position to gear handle is needed to be accurately positioned and track.Cause
This, the present invention provides a kind of gear positions detection devices.The grating that the detection device is mainly measured by being suitable for straight-line displacement
Ruler, L shape connecting plate are constituted, and grating ruler reading head is fixedly connected with nut by L shape connecting plate, is moved synchronously.Grating scale is real-time
It acquires the actual displacement amount of nut and feeds back to controller, to realize that gear accurately controls the closed loop of position.Meanwhile grating scale
With very strong anti-interference ability, measurement accuracy can keep the work that for a long time can satisfy gear shifting manipulator shift hunting
Characteristic.
Meanwhile straight line mould group assembly can be moved left and right along straight line mould group assembly support frame through slot, in height adjustment branch
In the case that frame pedestal is fixed, further adjusts shift control mechanism and keep off the laterally opposed position of handle；Two straight line mould groups are total
It can be moved forward and backward along support panel upper surface through slot at support frame, before adjusting straight line mould group assembly relative to gear handle
Initial position afterwards, to greatly improve applicability of the invention.
The shift stroke and gear shifting force of different automobile types are not consistent, and the present invention can be according to actual measurement shift stroke and gear shifting force
Select the screw rod of appropriate length and the screw bolt-type outer ring and roll assembly of adaptable contact strength, versatility very strong.
In addition to this, height adjustment bracket can be adjusted according to cab space, to adapt to most of driver's cabin,
And it does not need to be transformed primary car structure during the installation process.
Detailed description of the invention
The present invention will be further described below with reference to the drawings:
Fig. 1 is the axonometric drawing of gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line；
Fig. 2 is the main view of gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line；
Fig. 3 is the top view of gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line；
Fig. 4 is the left view of gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line；
Fig. 5 is under the gear handle in gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
The axonometric drawing of portion's gripping block；
Fig. 6 is the screw bolt-type in gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
Outer ring and roll assembly and sleeve assemble axonometric drawing；
Fig. 7 is the kinematics letter of gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
Figure；
Fig. 8 is the bracket pendulum in gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
The main view of bar；
Fig. 9 is the bracket pendulum in gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
The top view of bar；
Figure 10 is the grating in gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line
The axonometric drawing of ruler；
Figure 11 is gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism closed-loop control arranged in a straight line
Schematic diagram.
Figure 12 is that gear of the present invention formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line is mounted on vehicle
Assembling later schematic diagram in copilot room and with vehicle gear.
In figure: 1. servo motors, 2. plum couplings, 3. angular contact ball bearings, 4. screw rods, 5. nuts, the installation of 6.L shape
Plate, 7. hex nuts, 8. gear supporting block, 9. gear, 10. gear upper pinch block, 11. gear lower part gripping block, 12. slide
Road, 13.L shape connecting plate, 14. straight line mould group assembly pedestals, 15. straight line mould group assembly support frames, 16. height adjustment bracket bottoms
Seat, the rolling of 17. support rods, 18. swing rods, 19. support panels, 20. fastening nuts, 21. double threaded screws, 22. sleeves, 23. screw bolt-types
Outer ring and roll assembly, 24. grating scales, 25. assistant driver seats.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, as the straight line mould group assembly of power output of the present invention and intermediate gearing by straight line mould
Group assembly pedestal 14, servo motor 1, plum coupling 2, angular contact ball bearing 3, screw rod 4, nut 5, slideway 12 form.Before
14 rear end of straight line mould group assembly pedestal of the rectangular plate-like of rear direction setting is fixed with a servo motor 1, carries out power output.
The present invention selects leading screw and nut mechanism as intermediate gearing, and the both ends of screw rod 4 respectively pass through one with angular contact ball bearing 3
Bearing block be supported on the both ends of straight line mould group assembly pedestal 14, the output shaft of servo motor 1 passes through plum coupling 2 and screw rod
4 rear end is fixedly connected, and completes power transmitting.There is the slideway 12 of a rectangular plate-like below screw rod 4 in leading screw and nut mechanism
It is fixed on the upper surface of straight line mould group assembly pedestal 14, the nut 5 in leading screw and nut mechanism is a rectangular block, and nut 5 passes through
The nut sliding slot and slideway 12 of lower surface setting cooperate, so that the rotary motion of the output shaft of servo motor 1 is converted to nut 5
Along the linear motion of slideway 12.
With reference to Fig. 1, Fig. 3, Fig. 4, Fig. 6, the upper surface of nut 5 is fixedly connected with the level board of a L-shaped installing plate 6, L shape
A through-hole is provided at the vertical plate center of mounting plate 6, a screw bolt-type idler wheel on the left of the vertical plate of L-shaped installing plate 6
A sleeve 22 is set on the bolt of needle bearing 23, the bolt front end of screw bolt-type outer ring and roll assembly 23 is with externally threaded
Bolt end is located on the right side of the vertical plate of L-shaped installing plate 6 after passing through the through-hole at the vertical plate center of L-shaped installing plate 6 with one
Hex nut 7 be threadedly coupled fix, so as to realize that screw bolt-type outer ring and roll assembly 23 is moved synchronously with nut 5.Sleeve
22 can to avoid L-shaped installing plate 6 vertical plate left end face and gear the right end face of supporting block 8 during the motion dry
It relates to.There are three having altogether with the structure that is fastenedly connected 9 of gear, respectively gear lower part gripping block 11, gear upper pinch block 10, keep off
Supporting block 8.The right end face of supporting block 8 is provided with gear supporting block sliding slot by the gear of rectangle from top to bottom, and gear is sliding supporting block
The cooperation of the bearing outer ring of slot and screw bolt-type outer ring and roll assembly 23 makes screw bolt-type outer ring and roll assembly 23 along gear on the right side of supporting block
Sliding slot reciprocal relative movement,.Gear upper pinch block 10, gear lower part gripping block 11 be respectively nested in the gear of vehicle 9 it is upper
Portion and lower part simultaneously will keep off being fixed on 9 and keep off in left end face supporting block 8 by bolt.In order to guarantee gear 9 and gear branch
Bracer 8 moves synchronously, as shown in figure 5, it is oblique to keep off the draft that gripping block 11 interior sidewall surface in lower part is designed and is bonded completely with gear 9
Degree is to avoid gear 9 and gear the relative position play between supporting block 8.
With reference to Fig. 1, Fig. 2, Fig. 4, mechanism includes the height adjustment bracket that can adjust height along the vertical direction.Highly
Adjusting bracket includes support rod 17, swing rod 18, support panel 19, height adjustment bracket pedestal 16, fastening nut 20, double threaded screw
21.Such as Figure 12, height adjustment bracket pedestal 16 is fixed in interior copilot room, and definition vehicle heading is front, rectangle
Two angles of 16 front of height adjustment bracket pedestal of plate and the lower end of the swing rod 18 of two rectangular rods are hinged, height adjustment
Two angles at 16 rear portion of bracket base and the lower end of the support rod 17 of two rectangular rods are hinged.The middle part of swing rod 18 is provided with vertically
The swing rod through slot in direction, the width of swing rod through slot are exactly the thickness of support rod 17, are located at swing rod through slot two sides on swing rod 18
The swing rod side wall through slot of horizontal direction is provided on swing rod side wall.The support rod through slot of horizontal direction is provided in the middle part of support rod 17,
Swing rod side wall through slot is identical as the groove width of support rod through slot.It is symmetrically arranged at left and right sides of the support panel 19 of one rectangular plate-like
Support panel vertical plate is provided with the support panel vertical plate through slot of horizontal direction on two support panel vertical plates.Each
Support rod 17 is hinged with the front angle Liang Ge of support panel vertical plate after the swing rod through slot of corresponding swing rod 18.According to driving
For the good height adjustment bracket pedestal 16 of the space allocation of room with after the vertical distance of support panel 19, the upper end of two swing rods 18 is each logical
A bolt is crossed to be connected and fixed after corresponding support panel vertical plate through slot with a nut thread.A piece outer diameter and support
The both ends of the tangent double threaded screw 21 of bar through slot groove width are each passed through the swing rod side wall through slot and corresponding support rod of corresponding swing rod 18
After 17 support rod through slot, it is threadedly coupled with two fastening nuts 20 for being located at 18 two sides of swing rod, fastening nut 20 is respectively from pendulum
18 two side walls of bar screw.Support rod 17, swing rod 18, double threaded screw 21 collectively form scissor structure, double threaded screw 21 in this way
The relative motion between support rod 17 and swing rod 18 can be further limited, enhances the enabling capabilities of height adjustment bracket, makes this
Support construction is reliable and stable.
The left and right sides of support panel 19 is symmetrically arranged with the support panel through slot of vertical direction, and support panel through slot is from branch
19 front of frame panel extends to 19 rear portion of support panel.Two straight line mould group assembly support frames 15 can be in support panel 19 along branch
Frame panel through slot is moved forward and backward, on the one hand, the relative distance of two straight line mould group assembly support frames 15 can be according to selected
The length adjustment of grating scale 24；On the other hand, two straight line mould group assembly support frames 15 can be kept fixed spacing further edge
Support panel through slot is moved forward and backward to adjust straight line mould group assembly relative to gear 9 initial position in the front-back direction, adjusts
Behind position, the both ends of two straight line mould group assembly support frames 15 are passed through pair there are two straight line mould group assembly support frame connection bolt
It is fixedly connected after the support panel through slot answered with nut.The middle part of straight line mould group assembly support frame 15 is relative to straight line mould group assembly
The both ends of support frame 15 raise upward, and the position that straight line mould group assembly support frame 15 raises upward is provided with straight line mould group assembly branch
Support through slot.Straight line mould group assembly pedestal 14 can be moved left and right along straight line mould group assembly support frame through slot, adjust mechanism
With gear 9 laterally opposed position, applicability of the invention is improved.4 bolts pass through corresponding straight line mould group assembly support frame
It is fixedly connected after through slot with the nut thread of insertion 14 lower surface of straight line mould group assembly pedestal.
With reference to Fig. 1, Fig. 3, Figure 10, it is provided with one on height adjustment bracket and is located at 14 right side of straight line mould group assembly pedestal simultaneously
The grating scale 24 parallel with straight line mould group assembly pedestal 14, the upper surface of the grating ruler reading head of grating scale 24 connect with a L shape
The level board of fishplate bar 13 is fixedly connected, and the right end face of the nut 5 in the vertical plate and leading screw and nut mechanism of L shape connecting plate 13 is solid
Fixed connection.In shift process, grating ruler reading head is moved synchronously with nut 5, and grating scale 24 acquires the actual bit of nut 5 in real time
Feedback signal is set and issued, realizes that gear is accurately positioned 9 position and track.Grating scale 24 has very strong anti-interference ability,
Its measurement accuracy can keep the working characteristics that for a long time can satisfy gear shifting manipulator shift hunting.Grating scale 24 can be with straight
Line mould group assembly moves left and right between the straight line mould group assembly support frame through slot of two straight line mould group assembly support frames 15.When straight
After line mould group assembly determines lateral position, the lateral position of grating scale 24 also determines therewith, the scale grating both ends of grating scale 24
It is respectively connected after bolt passes through corresponding straight line mould group assembly support frame through slot by a scale grating and is connect with a nut thread
It is fixed.
A kind of gear formula autonomous driving vehicle automatic shift operating mechanism working principle arranged in a straight line provided by the invention is such as
Under:
(1) motion principle:
The gear of the automatic catch automobile, always in the flat in-plane moving of longitudinal direction of car, is transported 9 places as shown in fig. 7, extracting gear 9
9 motion profile approximation is simplified to a circular motion around fixed point O, it is assumed that in figure by dynamic plane by gear in shift process
OA is gear 9 initial position, and gear is respectively OA ' and OA " 9 extreme position.In order to enable mechanism in shift process
Shift process is decomposed into two linear motions by the motion profile of middle height fitting gear handle, the present invention, respectively along keep off 9 it is straight
Line movement and the linear motion along front and back shifting direction.Linear motion along front and back shifting direction can be simplified with straight line l1,
Horizontal rectilinear motion corresponding to nut 5.Straight line l1 respectively with gear the extended line of 9 two limit positions OA ', OA " intersect at B ',
B " from screw bolt-type outer ring and roll assembly 23 and keeps off 9 movement from A ' to B ' realization with supporting block 8 along gear.Such as gear is 9
OA " is moved to from OA, screw bolt-type outer ring and roll assembly 23 is moved to B " from A point by 1 drives edge slideway 12 of servo motor, same with this
When, screw bolt-type outer ring and roll assembly 23 is from initial position A " (along gear 9 directions, A " and A for keeping off 9 for gear is 9
For occupy identical position) along gear runner movement on the right side of supporting block to B ".
(2) control principle:
The switching that the present invention drives gear to realize gear 9 by the linear movement of nut 5, can gear, which smoothly switch, depends on
In gear the levels of precision of 9 positions.Therefore it after mechanism completes installation, first has to according to gear 9 when different gears are set
Nut 5 demarcates the position of each gear relative to the distance of 12 initial position of slideway, lays the foundation for subsequent control.In order to protect
Card is kept off correctly enters position 9 in shift process, and the grating scale 24 that selection is suitable for straight-line displacement measurement acquires the reality of nut 5 in real time
Border position, and issue feedback signal.In conjunction with Figure 11, host computer sends the input signal of an expression desired locations to controller,
Driving servo motor 1 rotates after the motor servo driver of servo motor 1 receives signal, and mechanism driving is kept off 9 movements, and band
The grating ruler reading head of dynamic grating scale 24 moves together.After the completion of movement, grating scale 24 can be anti-by the actual position information of nut 5
It is fed to controller.Input signal is compared by controller with the feedback signal that grating scale 24 measures obtained physical location, is obtained
Continue to control motor servo driver driving servo motor 1 to a deviation signal, whole process forms gear the essence of 9 positions
True closed-loop control.
A kind of motion process of gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line provided by the invention
Are as follows:
1 output torque of servo motor drives screw rod 4 to make rotating motion by plum coupling 2, and nut 5 is total along straight line mould group
It moves along a straight line at the fixed slideway 12 in 14 upper surface of pedestal, and then drives the bolt at L-shaped installing plate 6 and its vertical plate center
The horizontal rectilinear motion together of type outer ring and roll assembly 23.At the same time, the outer ring of screw bolt-type outer ring and roll assembly 23 is along gear branch
For the gear on 8 right side of bracer supporting block sliding slot reciprocal relative movement, lasting output is sliding supporting block the gear on the right side of supporting block to gear
The horizontal applied force of slot inner wall, gear drive the gear being firmly connected with it to complete gear shifting action 9 supporting block 8.
While nut 5 moves along a straight line, the reading head for the grating scale 24 being firmly connected with it by L shape connecting plate 13 is same
Linear reciprocating motion, the location information of moment acquisition and record nut 5 are walked, and is sent to controller, is realized as feedback signal
Accurate closed-loop control of the gear 9 positions.
Claims (6)
1. gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line, is placed in interior copilot room, feature
It is, the height adjustment bracket of height, using vehicle heading as front, height adjustment can be adjusted along the vertical direction including one
The straight line mould group assembly that can adjust position and fixation with left and right directions along the longitudinal direction, straight line mould group assembly packet are provided on bracket
The straight line mould group assembly pedestal (14) for the rectangular plate-like that one is arranged along the longitudinal direction is included, is set on straight line mould group assembly pedestal (14)
It is equipped with the leading screw and nut mechanism driven by servo motor (1), has a rectangle below the screw rod (4) in leading screw and nut mechanism
The slideway (12) of plate is arranged on the upper surface of straight line mould group assembly pedestal (14), and the nut (5) in leading screw and nut mechanism is
One rectangular block, the nut sliding slot and slideway (12) that nut (5) is arranged by lower surface cooperate, the upper surface and one of nut (5)
The level board of a L-shaped installing plate (6) is fixedly connected, and a through-hole is provided at the vertical plate center of L-shaped installing plate (6), is located at L shape
A sleeve (22) is set on the bolt of a screw bolt-type outer ring and roll assembly (23) on the left of the vertical plate of mounting plate (6),
The bolt front end of screw bolt-type outer ring and roll assembly (23) passes through the vertical plate of L-shaped installing plate (6) with externally threaded bolt end
It is located at one the hex nut (7) on the right side of the vertical plate of L-shaped installing plate (6) after through-hole at center and is threadedly coupled fixation, one
The right end face of supporting block (8) is provided with gear supporting block sliding slot by the gear of a rectangle from top to bottom, is kept off supporting block sliding slot and spiral shell
The bearing outer ring cooperation of bolt type outer ring and roll assembly (23) makes screw bolt-type outer ring and roll assembly (23) along gear sliding on the right side of supporting block
Upper pinch block (10) is nested in the gear of vehicle the top of (9) and (9) is fixed gear by slot reciprocal relative movement, a gear
On keeping off the left end face supporting block (8), gear has a gear that lower part gripping block (11) is embedding upper pinch block (10) lower section
It covers in gear the lower part of (9) and gear is fixed on (9) in the left end face kept off supporting block (8), the servo of servo motor (1)
Motor driver is connect by controller with host computer.
2. gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line according to claim 1, feature exist
In the both ends of screw rod (4) respectively pass through the bearing block with angular contact ball bearing (3) and are supported on straight line mould group assembly pedestal
(14) both ends, servo motor (1) are fixed on the rear end of straight line mould group assembly pedestal (14), and the output shaft of servo motor (1) is logical
Plum coupling (2) is crossed to be fixedly connected with the rear end of screw rod (4).
3. gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line according to claim 1, feature exist
In, be provided on height adjustment bracket one be located at straight line mould group assembly pedestal (14) on the right side of and with straight line mould group assembly pedestal
(14) parallel grating scale (24), grating scale (24) can adjust position and fixation, grating scale with left and right directions along the longitudinal direction
(24) upper surface of grating ruler reading head is fixedly connected with the level board of a L shape connecting plate (13), L shape connecting plate (13)
Vertical plate is fixedly connected with the right end face of the nut (5) in leading screw and nut mechanism, grating ruler reading head by controller with it is upper
Position machine connection.
4. according to claim 1 or claim 2 or gear as claimed in claim 3 formula autonomous driving vehicle arranged in a straight line it is automatic
Shift control mechanism, which is characterized in that the height adjustment bracket includes the height adjustment bracket pedestal an of rectangular plate-like
(16), the lower end of the swing rod (18) at two angles and two rectangular rods of height adjustment bracket pedestal (16) front is hinged, swing rod
(18) it is provided with the swing rod through slot of vertical direction in the middle part of, is located on the swing rod side wall of swing rod through slot two sides on swing rod (18) and is provided with
The swing rod side wall through slot of horizontal direction, the support rod at two angles and two rectangular rods at height adjustment bracket pedestal (16) rear portion
(17) lower end is hinged, and the support rod through slot of horizontal direction is provided in the middle part of support rod (17), and each support rod (17), which passes through, to be corresponded to
Swing rod (18) swing rod through slot after, the both ends of a double threaded screw (21) are each passed through the swing rod side wall of corresponding swing rod (18)
Two fastening nut (20) screw threads after the support rod through slot of through slot and corresponding support rod (17) and positioned at swing rod (18) two sides
Support panel (19) left and right sides of connection, a rectangular plate-like is symmetrically arranged with support panel vertical plate, two support panels
The support panel vertical plate through slot of horizontal direction is symmetrically arranged on vertical plate, the connection bolt of two swing rod (18) upper ends is worn
It is connect after crossing corresponding support panel vertical plate through slot with a nut thread, the upper ends of two support rods (17) and corresponding branch
The front of frame panel vertical plate is hinged.
5. gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line according to claim 4, feature exist
In being symmetrically arranged with the support panel through slot of vertical direction at left and right sides of support panel (19), support panel through slot is from bracket
Panel (19) front extends to support panel (19) rear portion, and there are two straight at the both ends of two straight line mould group assembly support frames (15)
Line mould group assembly support frame connection bolt is connect after passing through corresponding support panel through slot with nut thread, makes two straight line mould groups
Assembly support frame (15) can be moved forward and backward and fix along support panel through slot on support panel (19), the support of straight line mould group assembly
The middle part of frame (15) raises upward relative to the both ends of straight line mould group assembly support frame (15), straight line mould group assembly support frame (15)
The position to raise upward is provided with straight line mould group assembly support frame through slot, the scale grating at the scale grating both ends of grating scale (24)
Connection bolt is connect after passing through corresponding straight line mould group assembly support frame through slot with a nut thread, makes grating scale (24) can be two
It moves left and right and fixes between a straight line mould group assembly support frame (15).
6. gear formula autonomous driving vehicle automatic shift operating mechanism arranged in a straight line according to claim 5, feature exist
After, 4 bolts pass through corresponding straight line mould group assembly support frame through slot with insertion straight line mould group assembly pedestal (14) lower surface
Nut thread connection, make straight line mould group assembly pedestal (14) can between two straight line mould group assembly support frames (15) left and right move
It moves and fixes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485447.5A CN110103707B (en) | 2019-06-05 | Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485447.5A CN110103707B (en) | 2019-06-05 | Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110103707A true CN110103707A (en) | 2019-08-09 |
| CN110103707B CN110103707B (en) | 2024-05-17 |
Family
ID=
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116292863A (en) * | 2023-05-11 | 2023-06-23 | 沈阳新松机器人自动化股份有限公司 | Automatic driving robot is kept off formula and is shifted actuating mechanism |
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| CN209972177U (en) * | 2019-06-05 | 2020-01-21 | 吉林大学 | Automatic gear shifting control mechanism of automatic driving automobile with linearly arranged gears |
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| KR20120062329A (en) * | 2010-12-06 | 2012-06-14 | 현대자동차주식회사 | Shifting apparatus for vehicle |
| CN102678913A (en) * | 2011-11-22 | 2012-09-19 | 河南科技大学 | Screw rod gear selecting and gear shifting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116292863A (en) * | 2023-05-11 | 2023-06-23 | 沈阳新松机器人自动化股份有限公司 | Automatic driving robot is kept off formula and is shifted actuating mechanism |
| CN116292863B (en) * | 2023-05-11 | 2023-08-08 | 沈阳新松机器人自动化股份有限公司 | Automatic driving robot is kept off formula and is shifted actuating mechanism |
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