CN110103707B - Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile - Google Patents
Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile Download PDFInfo
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- CN110103707B CN110103707B CN201910485447.5A CN201910485447A CN110103707B CN 110103707 B CN110103707 B CN 110103707B CN 201910485447 A CN201910485447 A CN 201910485447A CN 110103707 B CN110103707 B CN 110103707B
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- 230000033001 locomotion Effects 0.000 abstract description 35
- 230000000903 blocking effect Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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Classifications
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- 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
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- 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
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- Combustion & Propulsion (AREA)
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Abstract
The invention provides a gear linear arrangement type automatic steering automobile automatic gear shifting control mechanism, which is characterized in that an arc motion track of a gear handle is decomposed into linear motion along the direction of the gear handle and horizontal linear motion along the front-rear gear shifting direction, a linear module assembly converts rotation of a servo motor into horizontal motion of a nut through a screw rod, meanwhile, the torque of the motor is converted into horizontal acting force of a bolt type roller needle bearing on a right side chute of a gear handle supporting block, and the bolt type roller needle bearing reciprocates relative to the bolt type roller needle bearing when moving along the horizontal direction along with the nut, so that gear shifting actions are completed; the mechanism is tightly attached to the gear handle, and can highly simulate gear shifting actions; the use of the bolt type roller needle bearing not only improves the bearing capacity of the whole mechanism, but also reduces friction loss; the height adjustment bracket can be adjusted according to the cab space so as to adapt to most cabs without modifying the cab.
Description
Technical Field
The invention belongs to the technical field of automatic driving in automobile test, and relates to an automatic gear shifting control mechanism of an automatic driving automobile with gear arranged in a straight line.
Background
For an autopilot, the shift control can replace the driver to perform a shift task for the gear.
Generally, for manual transmission vehicles, the shift lever moves in the gear slot along a "king" -like path throughout the shift process. The gear shifting process is decoupled into two actions of gear selection and gear engagement, and the gear shifting process is driven by two motors respectively, so that the control algorithm of the stop lever can be simplified, and interference between the two actions can be avoided. Most of the existing gear shifting control mechanisms are designed based on the mode. The invention patent with publication number CN105068595A provides a tractor driving robot based on force/position hybrid control, gear selection is driven by a double-shaft trapezoidal sliding table, gear engagement is driven by an electric push rod, the whole mechanism occupies a large space, and in order to ensure that gear shifting is effective, the height of the tail end of the electric push rod needs to be adjusted, the universality is poor, and the installation is complex. The invention of publication CN102435442B discloses an autopilot robot for vehicle road testing, wherein the shift operating mechanism is driven using a ball screw, but the actuator is fixedly connected to the gear grip, and the actual movement of the gear grip during shifting is not considered. The actual shift operation cannot be well simulated.
For an automatic gear vehicle with gear arranged in a straight line, the stop lever always moves in the longitudinal plane of the vehicle when the gear is changed. Therefore, it is particularly important to design an automatic shift operating mechanism that is specially mounted on a shift in-line type automatic driving automobile.
Disclosure of Invention
The invention provides an automatic gear shifting control mechanism of an automatic driving automobile with straight gears, which is special for the automatic driving automobile with straight gears. The gear shifting device is compact in integral structure, high in fitting degree of actual motion trail of the gear shifting handle, accurate positioning of the gear shifting handle is achieved through closed-loop control, and the problem that an automatic driving control mechanism is inconvenient to arrange due to the fact that the space in a vehicle is narrow can be solved through the support structure with the adjustable height.
The specific technical scheme adopted by the invention is as follows:
The automatic gear shifting control mechanism for the automatic driving automobile with the gear arranged in a straight line is placed in an inner passenger cabin of the automobile and is characterized by comprising a height adjusting bracket capable of adjusting the height along the vertical direction, the height adjusting bracket takes the running direction of the automobile as the front, a straight line module assembly capable of adjusting the position along the front-back direction and the left-right direction and fixing is arranged on the height adjusting bracket, the straight line module assembly comprises a rectangular plate-shaped straight line module assembly base arranged along the front-back direction, a screw rod nut mechanism driven by a servo motor is arranged on the straight line module assembly base, a rectangular plate-shaped slideway is arranged below a screw rod in the screw rod nut mechanism and is arranged on the upper surface of the straight line module assembly base, a nut in the screw rod nut mechanism is a rectangular block, the nut is matched with the slideway through a nut chute arranged on the lower surface, the upper surface of the nut is fixedly connected with a horizontal plate of an L-shaped mounting plate, A through hole is arranged at the center of a vertical plate of the L-shaped mounting plate, a sleeve is sleeved on a bolt of a bolt type roller needle bearing positioned at the left side of the vertical plate of the L-shaped mounting plate, the end part of the bolt with external threads at the front end of the bolt type roller needle bearing penetrates through the through hole at the center of the vertical plate of the L-shaped mounting plate and is fixedly connected with a hexagonal nut positioned at the right side of the vertical plate of the L-shaped mounting plate in a threaded manner, a right end face of a rectangular handle support block is provided with a handle support block sliding groove from top to bottom, the handle support block sliding groove is matched with a bearing outer ring of the bolt type roller needle bearing to enable the bolt type roller needle bearing to reciprocate along the handle support block sliding groove, an upper clamping block of the handle is nested at the upper part of a handle of a vehicle and the handle is fixed on the left end face of the handle support block, a lower clamping block of the blocking handle is nested at the lower part of the blocking handle and fixes the blocking handle on the left end face of the blocking handle supporting block, and a servo motor driver of the servo motor is connected with the upper computer through a controller.
The further technical scheme comprises the following steps:
the two ends of the screw rod are respectively supported at the two ends of the linear module assembly base through a bearing seat with an angular contact ball bearing, the servo motor is fixed at the rear end of the linear module assembly base, and an output shaft of the servo motor is fixedly connected with the rear end of the screw rod through a plum blossom coupling.
The height adjusting support is provided with a grating ruler which is positioned on the right side of the base of the linear module assembly and is parallel to the base of the linear module assembly, the grating ruler can be adjusted in position and fixed along the front-back direction and the left-right direction, the upper surface of a grating ruler reading head of the grating ruler is fixedly connected with a horizontal plate of an L-shaped connecting plate, a vertical plate of the L-shaped connecting plate is fixedly connected with the right side end face of a nut in the screw-nut mechanism, and the grating ruler reading head is connected with an upper computer through a controller.
The height adjusting bracket comprises a rectangular plate-shaped height adjusting bracket base, two corners at the front part of the height adjusting bracket base are hinged with the lower ends of two rectangular rod-shaped swing rods, the middle part of each swing rod is provided with a vertical swing rod through groove, the swing rod side walls positioned at the two sides of the swing rod through groove on each swing rod are respectively provided with a horizontal swing rod side wall through groove, the two corners at the rear part of the height adjusting bracket base are hinged with the lower ends of two rectangular rod-shaped supporting rods, the middle parts of the supporting rods are provided with horizontal supporting rod through grooves, each supporting rod penetrates through the corresponding swing rod through groove of the corresponding swing rod, two ends of a double-headed screw rod respectively penetrate through the swing rod side wall through groove of the corresponding swing rod and the supporting rod through groove of the corresponding supporting rod and then are in threaded connection with two fastening nuts positioned on two sides of the swing rod, the left side and the right side of a rectangular plate-shaped support panel are symmetrically provided with support panel vertical plates, the two support panel vertical plates are symmetrically provided with support panel through grooves in the horizontal direction, connecting bolts at the upper ends of the two swing rods penetrate through the corresponding support panel vertical plates through grooves and then are in threaded connection with one nut, and the upper ends of the two supporting rods are hinged with the front parts of the corresponding support panel vertical plates.
The left and right sides symmetry of support panel is provided with the support panel through groove of vertical direction, support panel through groove extends to support panel rear portion from support panel front portion, two straight line module assembly support frame connecting bolts all have behind the corresponding support panel through groove with nut threaded connection at two straight line module assembly support frame's both ends, make two straight line module assembly support frames can follow support panel through groove front and back movement and fixed on the support panel, the middle part of straight line module assembly support frame is upwards protruding for the both ends of straight line module assembly support frame, straight line module assembly support frame upwards bellied position is provided with straight line module assembly support frame through groove, the scale grating connecting bolts at scale grating both ends of grating chi pass behind the corresponding straight line module assembly support frame through groove with a nut threaded connection, make the grating chi can be between two straight line module assembly support frames and control and remove and fix.
The 4 bolts penetrate through the corresponding through grooves of the linear module assembly supporting frames and are connected with nuts embedded into the lower surface of the linear module assembly base in a threaded mode, and therefore the linear module assembly base can move left and right between the two linear module assembly supporting frames and is fixed.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a gear linear arrangement type automatic steering automobile automatic gear shifting control mechanism, which decomposes an arc motion track of a gear handle in an automobile longitudinal plane into two linear motions, wherein the two linear motions are horizontal linear motions along a front-rear gear shifting direction and are respectively driven by a screw rod nut mechanism driven by a servo motor, and the linear motions along the gear handle direction are realized by reciprocating motion of a gear handle supporting block chute relative to a bolt type roller needle bearing in the gear shifting process. The fitting degree of the gear shifting operation process and the actual motion trail of the gear handle is high, and the gear lever can be stably and effectively pushed to complete the gear shifting action.
The blocking handle is fixed on the left end face of the blocking handle supporting block through the blocking handle lower clamping block and the blocking handle upper clamping block, and the slotted shape of the blocking handle lower clamping block and the blocking handle upper clamping block is attached to the blocking handle as much as possible, so that the blocking handle and the blocking handle supporting block can be tightly connected in the moving process of the mechanism, and synchronous movement is guaranteed.
The use of the bolt type roller needle bearing can reduce the friction energy loss when the sliding groove of the support block of the stop handle moves relative to the sliding groove of the support block of the stop handle, so that the movement is smoother; and compared with the common pulley with the same size, the bearing capacity is higher, so that the mechanism is smaller and more compact while meeting the required bearing capacity.
In the gear shifting process, the displacement of the gear handle is relatively fine, and the position of the gear handle needs to be accurately positioned and tracked. Accordingly, the present invention provides a gear position detecting device. The detection device mainly comprises a grating ruler suitable for linear displacement measurement and an L-shaped connecting plate, wherein a grating ruler reading head is fixedly connected with a nut through the L-shaped connecting plate and moves synchronously. The actual displacement of the nut is collected in real time by the grating ruler and fed back to the controller, so that closed-loop accurate control of the position of the gear handle is realized. Meanwhile, the grating ruler has strong anti-interference capability, the measurement accuracy can be kept for a long time, and the working characteristic of frequent gear shifting of the gear shifting manipulator can be met.
Meanwhile, the linear module assembly can move left and right along the through groove of the support frame of the linear module assembly, and the transverse relative position of the gear shifting control mechanism and the gear handle is further adjusted under the condition that the height adjusting support base is fixed; the two linear module assembly support frames can move back and forth along the through grooves on the upper surface of the support panel so as to adjust the front and back initial positions of the linear module assemblies relative to the stop handles, thereby greatly improving the applicability of the invention.
The gear shifting stroke and the gear shifting force of different vehicle types are not consistent, and the screw rod with proper length and the bolt type roller needle bearing with the adaptive contact strength can be selected according to the actually measured gear shifting stroke and the gear shifting force, so that the universality is very strong.
In addition, the height adjusting bracket can be adjusted according to the cab space so as to adapt to most cabs, and the original vehicle structure does not need to be modified in the installation process.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is an isometric view of a shift control mechanism for an in-line automatic pilot vehicle according to the present invention;
FIG. 2 is a front view of a shift control mechanism for an in-line automatic pilot vehicle according to the present invention;
FIG. 3 is a top view of a gear shift control mechanism for an in-line autopilot vehicle in accordance with the present invention;
FIG. 4 is a left side view of a shift control mechanism for an in-line automatic pilot vehicle according to the present invention;
FIG. 5 is an isometric view of a lower grip block of a range bar in a range inline automatic pilot of the present invention;
FIG. 6 is an isometric view of an assembly of a bolt-type roller needle bearing and a sleeve in a gear alignment automatic pilot automatic transmission operating mechanism according to the present invention;
FIG. 7 is a kinematic schematic of a shift control mechanism for a gear in-line autopilot vehicle in accordance with the present invention;
FIG. 8 is a front view of a bracket rocker in a shift lever in-line autopilot vehicle shift control mechanism in accordance with the present invention;
FIG. 9 is a top view of a bracket rocker in a shift lever in-line autopilot automatic steering mechanism in accordance with the present invention;
FIG. 10 is an isometric view of a grating ruler in a gear alignment automatic pilot automobile automatic gearshift operating mechanism according to the present invention;
Fig. 11 is a schematic diagram of a closed-loop control of a shift control mechanism for an automatic pilot vehicle with a linear arrangement of gears according to the present invention.
Fig. 12 is a schematic view of the gear shift control mechanism of the in-line automatic pilot vehicle of the present invention installed in the passenger compartment of the vehicle and assembled with the vehicle's handlebar.
In the figure: 1. the hydraulic steering device comprises a servo motor, a plum blossom shaft coupling, a 3 angular contact ball bearing, a 4-screw rod, a 5-nut, a 6.L-shaped mounting plate, a 7-hexagon nut, a 8-gear handle supporting block, a 9-gear handle, a 10-gear handle upper clamping block, a 11-gear handle lower clamping block, a 12-slideway, a 13-L-shaped connecting plate, a 14-linear module assembly base, a 15-linear module assembly support frame, a 16-height adjustment support frame base, a 17-supporting rod, a 18-swinging rod, a 19-support panel, a 20-fastening nut, a 21-double-head screw rod, a 22-sleeve, a 23-bolt-type roller needle bearing, a 24-grating ruler and a 25-copilot seat.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
As shown in fig. 1 and 2, the linear module assembly as the power output and intermediate transmission device of the invention is composed of a linear module assembly base 14, a servo motor 1, a quincuncial coupling 2, an angular contact ball bearing 3, a screw rod 4, a nut 5 and a slideway 12. A servo motor 1 is fixed at the rear end of a rectangular plate-shaped linear module assembly base 14 arranged along the front-rear direction for power output. According to the invention, a screw rod nut mechanism is selected as an intermediate transmission device, two ends of a screw rod 4 are respectively supported at two ends of a linear module assembly base 14 through a bearing seat with an angular contact ball bearing 3, and an output shaft of a servo motor 1 is fixedly connected with the rear end of the screw rod 4 through a plum coupling 2 to finish power transmission. A rectangular plate-shaped slide rail 12 is fixed on the upper surface of the linear module assembly base 14 below the screw rod 4 in the screw rod nut mechanism, a nut 5 in the screw rod nut mechanism is a rectangular block, and the nut 5 is matched with the slide rail 12 through a nut slide groove arranged on the lower surface, so that the rotary motion of an output shaft of the servo motor 1 is converted into the linear motion of the nut 5 along the slide rail 12.
Referring to fig. 1,3, 4 and 6, the upper surface of the nut 5 is fixedly connected with a horizontal plate of an L-shaped mounting plate 6, a through hole is formed in the center of a vertical plate of the L-shaped mounting plate 6, a sleeve 22 is sleeved on a bolt of a bolt type roller needle bearing 23 positioned on the left side of the vertical plate of the L-shaped mounting plate 6, and the end part of the bolt with external threads at the front end of the bolt type roller needle bearing 23 passes through the through hole in the center of the vertical plate of the L-shaped mounting plate 6 and is then fixedly connected with a hexagonal nut 7 positioned on the right side of the vertical plate of the L-shaped mounting plate 6 in a threaded manner, so that the bolt type roller needle bearing 23 can synchronously move along with the nut 5. The sleeve 22 can avoid interference between the left end face of the vertical plate of the L-shaped mounting plate 6 and the right end face of the handle support block 8 in the moving process. The structure of the fastening connection with the blocking handle 9 is three, namely a blocking handle lower clamping block 11, a blocking handle upper clamping block 10 and a blocking handle supporting block 8. The right end face of the rectangular handle support block 8 is provided with a handle support block chute from top to bottom, and the handle support block chute is matched with the bearing outer ring of the bolt type roller needle bearing 23 to enable the bolt type roller needle bearing 23 to reciprocate relatively along the handle support block chute. The upper clamping block 10 and the lower clamping block 11 are respectively nested at the upper part and the lower part of the handle 9 of the vehicle, and the handle 9 is fixed on the left end face of the handle support block 8 through bolts. In order to ensure that the stop handle 9 and the stop handle supporting block 8 synchronously move, as shown in fig. 5, the inner side wall surface of the clamping block 11 at the lower part of the stop handle is designed with a draft angle which is completely attached to the stop handle 9 so as to avoid the relative position movement between the stop handle 9 and the stop handle supporting block 8.
Referring to fig. 1,2 and 4, the mechanism includes a height-adjusting bracket that is vertically adjustable in height. The height adjusting bracket comprises a supporting rod 17, a swinging rod 18, a bracket panel 19, a height adjusting bracket base 16, a fastening nut 20 and a double-headed screw 21. As shown in fig. 12, the height-adjusting bracket base 16 is fixed in the passenger compartment in the vehicle, defining the vehicle traveling direction as the front, and two corners of the front of the rectangular plate-shaped height-adjusting bracket base 16 are hinged to the lower ends of two rectangular rod-shaped swing bars 18, and two corners of the rear of the height-adjusting bracket base 16 are hinged to the lower ends of two rectangular rod-shaped support bars 17. The middle part of the swing rod 18 is provided with a swing rod through groove in the vertical direction, the width of the swing rod through groove is just equal to the thickness of the supporting rod 17, and the swing rod side walls positioned on the two sides of the swing rod through groove on the swing rod 18 are provided with swing rod side wall through grooves in the horizontal direction. The middle part of the supporting rod 17 is provided with a supporting rod through groove in the horizontal direction, and the groove width of the side wall through groove of the swinging rod is the same as that of the supporting rod through groove. The left and right sides symmetry of a rectangular plate-shaped support panel 19 is provided with support panel vertical boards, and the support panel vertical boards of two support panel vertical boards are all provided with the vertical board through groove of support panel of horizontal direction. Each supporting rod 17 is hinged with the front two corners of the vertical plate of the bracket panel after passing through the swing rod through groove of the corresponding swing rod 18. After the vertical distance between the bracket base 16 and the bracket panel 19 is adjusted according to the space of the cab, the upper ends of the two swing rods 18 are respectively connected and fixed with a nut through a bolt after penetrating through the corresponding bracket panel vertical plate through groove. Two ends of a double-headed screw 21 with the outer diameter tangential to the groove width of the supporting rod through groove respectively pass through the side wall through groove of the corresponding swinging rod 18 and the supporting rod through groove of the corresponding supporting rod 17 and then are in threaded connection with two fastening nuts 20 positioned at two sides of the swinging rod 18, and the fastening nuts 20 are screwed from two side wall surfaces of the swinging rod 18 respectively. Like this bracing piece 17, pendulum rod 18, double-end screw rod 21 constitute the scissors fork structure jointly, and the relative motion between bracing piece 17 and the pendulum rod 18 can be further restricted to double-end screw rod 21, strengthens the supporting capacity of high regulation support, makes this bearing structure stable and reliable.
The bracket panel 19 is symmetrically provided with bracket panel through grooves in the vertical direction on the left and right sides, and the bracket panel through grooves extend from the front part of the bracket panel 19 to the rear part of the bracket panel 19. The two linear module assembly support frames 15 can move back and forth along the through grooves of the support panel 19, on one hand, the relative distance between the two linear module assembly support frames 15 can be adjusted according to the length of the selected grating ruler 24; on the other hand, the two linear module assembly support frames 15 can keep a fixed distance and further move back and forth along the through grooves of the support panel to adjust the initial positions of the linear module assemblies relative to the front and back directions of the stop handle 9, and after the positions are adjusted, two linear module assembly support frame connecting bolts are respectively arranged at two ends of the two linear module assembly support frames 15 and fixedly connected with nuts after penetrating through the corresponding through grooves of the support panel. The middle part of the linear module assembly support frame 15 is upwards protruded relative to the two ends of the linear module assembly support frame 15, and a linear module assembly support frame through groove is formed in the upwards protruded part of the linear module assembly support frame 15. The linear module assembly base 14 can move left and right along the through groove of the linear module assembly support frame, and the transverse relative position of the mechanism and the retaining handle 9 is adjusted, so that the applicability of the invention is improved. The 4 bolts pass through the corresponding through grooves of the linear module assembly supporting frames and are fixedly connected with the nuts embedded in the lower surface of the linear module assembly base 14 through threads.
Referring to fig. 1, 3 and 10, a grating ruler 24 which is positioned on the right side of the linear module assembly base 14 and is parallel to the linear module assembly base 14 is arranged on the height adjusting bracket, the upper surface of a grating ruler reading head of the grating ruler 24 is fixedly connected with a horizontal plate of an L-shaped connecting plate 13, and a vertical plate of the L-shaped connecting plate 13 is fixedly connected with the right end face of a nut 5 in the screw-nut mechanism. In the gear shifting process, the grating ruler reading head and the nut 5 synchronously move, and the grating ruler 24 acquires the actual position of the nut 5 in real time and sends out a feedback signal to realize the accurate positioning and tracking of the position of the gear handle 9. The grating ruler 24 has strong anti-interference capability, the measurement accuracy can be kept for a long time, and the working characteristic of frequent gear shifting of the gear shifting manipulator can be met. The grating ruler 24 can move left and right between the straight line module assembly supporting frame through grooves of the two straight line module assembly supporting frames 15 along with the straight line module assemblies. After the straight line module assembly determines the transverse position, the transverse position of the grating ruler 24 is also determined, and two ends of the scale grating of the grating ruler 24 are respectively connected and fixed with a nut through a scale grating connecting bolt after penetrating through the through groove of the corresponding straight line module assembly supporting frame.
The invention provides a gear linear arrangement type automatic driving automobile automatic gear shifting control mechanism, which has the following working principle:
(1) Motion principle:
The handle 9 of the automatic gear automobile always moves in the longitudinal plane of the automobile, as shown in fig. 7, the movement plane of the handle 9 is extracted, the movement track of the handle 9 in the gear shifting process is approximately simplified into an arc movement around a fixed point O, in the figure, the OA is assumed to be the initial position of the handle 9, and the limit positions of the handle 9 are respectively OA , and OA ,,. In order to enable the mechanism to be capable of fitting the motion track of the gear handle in a gear shifting process, the gear shifting process is divided into two linear motions, namely the linear motion along the gear handle 9 and the linear motion along the front-rear gear shifting direction. The linear movement in the shift-back direction can be simplified by a straight line l1, corresponding to the horizontal linear movement of the nut 5. The straight line l1 is intersected with the extension lines of the two limit positions OA ,、OA,, of the retaining handle 9 at the B ,、B,, respectively, and the movement along the retaining handle 9 from A , to B , is realized by the cooperation of the bolt type roller needle bearing 23 and the retaining handle supporting block 8. For example, the lever 9 moves from OA to OA ,,, the bolt type roller needle bearing 23 is driven by the servo motor 1 to move along the slideway 12 from a point a to B ,,, and at the same time, the bolt type roller needle bearing 23 moves along the lever support block slideway from an initial position a ,, (along the direction of the lever 9, the position a ,, and a occupy the same position as the lever 9) to B ,, relative to the lever 9.
(2) Control principle:
according to the invention, the gear is switched by driving the gear handle 9 through the linear movement of the nut 5, and whether the gear can be switched smoothly depends on the accuracy degree of the position of the gear handle 9. Therefore, after the mechanism is installed, the positions of the gears are calibrated according to the distance between the nut 5 and the starting position of the slideway 12 when the gear handle 9 is at different gear positions, so that a foundation is laid for subsequent control. In order to ensure that the gear lever 9 is correctly positioned in the gear shifting process, a grating ruler 24 suitable for linear displacement measurement is selected to acquire the actual position of the nut 5 in real time, and a feedback signal is sent out. In combination with fig. 11, the upper computer sends an input signal indicating the desired position to the controller, and the servo motor driver of the servo motor 1 receives the signal and then drives the servo motor 1 to rotate, and the mechanism drives the gear handle 9 to move and drives the grating ruler reading head of the grating ruler 24 to move together. After the operation is completed, the grating scale 24 feeds back the actual position information of the nut 5 to the controller. The controller compares the input signal with the feedback signal of the actual position measured by the grating ruler 24 to obtain a deviation signal, and the deviation signal continuously controls the servo motor driver to drive the servo motor 1, so that the whole process forms accurate closed-loop control of the position of the gear handle 9.
The motion process of the automatic gear shifting control mechanism of the gear linear arrangement type automatic driving automobile provided by the invention is as follows:
The output torque of the servo motor 1 drives the screw rod 4 to do rotary motion through the plum blossom shaft coupling 2, the nut 5 moves linearly along the slideway 12 fixed on the upper surface of the linear module assembly base 14, and then the L-shaped mounting plate 6 and the bolt type roller needle bearing 23 at the center of the vertical plate are driven to do horizontal linear motion together. At the same time, the outer ring of the bolt type roller needle bearing 23 reciprocates relatively along the handle support block chute on the right side of the handle support block 8, continuously outputs horizontal acting force to the inner wall of the handle support block chute on the right side of the handle support block, and the handle support block 8 drives the handle 9 fixedly connected with the handle support block to complete gear shifting action.
While the nut 5 moves linearly, the reading head of the grating ruler 24 fixedly connected with the L-shaped connecting plate 13 moves reciprocally and synchronously, the position information of the nut 5 is collected and recorded at any moment, and the position information is sent to the controller to be used as a feedback signal to realize the accurate closed-loop control of the position of the stop handle 9.
Claims (4)
1. The gear linear arrangement type automatic steering automobile automatic gear shifting control mechanism is placed in an inner passenger cabin of an automobile and is characterized by comprising a height adjusting bracket capable of adjusting the height along the vertical direction, wherein the height adjusting bracket takes the running direction of the automobile as the front, a linear module assembly capable of adjusting the position along the front-back direction and the left-right direction and fixing is arranged on the height adjusting bracket, the linear module assembly comprises a rectangular plate-shaped linear module assembly base (14) arranged along the front-back direction, a screw rod nut mechanism driven by a servo motor (1) is arranged on the linear module assembly base (14), a rectangular plate-shaped slideway (12) is arranged below a screw rod (4) in the screw rod nut mechanism and is arranged on the upper surface of the linear module assembly base (14), a nut (5) in the screw rod nut mechanism is a rectangular block, the nut (5) is matched with the slideway (12) through a nut chute arranged on the lower surface, the upper surface of the nut (5) is fixedly connected with a horizontal plate of an L-shaped mounting plate (6), a through hole is formed in the center of the vertical plate of the L-shaped mounting plate (6), a roller pin sleeve (23) is sleeved on the left roller (22) of the L-shaped mounting plate (6), the front end of a bolt of the bolt type roller needle bearing (23) is provided with an external thread, the end of the bolt penetrates through a through hole in the center of a vertical plate of the L-shaped mounting plate (6) and then is fixedly connected with a hexagonal nut (7) positioned on the right side of the vertical plate of the L-shaped mounting plate (6), a rectangular handle support block chute is formed in the right side end face of the handle support block (8) from top to bottom, the handle support block chute is matched with a bearing outer ring of the bolt type roller needle bearing (23) to enable the bolt type roller needle bearing (23) to reciprocate along the handle support block chute, a handle upper clamping block (10) is nested at the upper part of a handle (9) of a vehicle and is used for fixing the handle (9) on the left side end face of the handle support block (8), a handle lower clamping block (11) is nested at the lower part of the handle upper clamping block (10) and is used for fixing the handle support block (9) on the left side end face of the handle support block (8), and a servo motor (1) is connected with an upper driver through a servo controller; the two ends of the screw rod (4) are respectively supported at the two ends of the linear module assembly base (14) through a bearing seat with an angular contact ball bearing (3), the servo motor (1) is fixed at the rear end of the linear module assembly base (14), and an output shaft of the servo motor (1) is fixedly connected with the rear end of the screw rod (4) through a plum blossom coupling (2); the height adjusting support is provided with a grating ruler (24) which is positioned on the right side of the linear module assembly base (14) and is parallel to the linear module assembly base (14), the grating ruler (24) can be adjusted in position and fixed in the front-back direction and the left-right direction, the upper surface of a grating ruler reading head of the grating ruler (24) is fixedly connected with a horizontal plate of an L-shaped connecting plate (13), a vertical plate of the L-shaped connecting plate (13) is fixedly connected with the right side end face of a nut (5) in the screw-nut mechanism, and the grating ruler reading head is connected with an upper computer through a controller.
2. The automatic gearshift operating mechanism of the gear linear arrangement type automatic steering automobile according to claim 1, wherein the height adjustment bracket comprises a rectangular plate-shaped height adjustment bracket base (16), two corners at the front part of the height adjustment bracket base (16) are hinged with the lower ends of two rectangular rod-shaped swinging rods (18), the middle part of each swinging rod (18) is provided with a vertical swinging rod through groove, the swinging rod side walls positioned at two sides of each swinging rod through groove are respectively provided with a horizontal swinging rod side wall through groove, the two corners at the rear part of the height adjustment bracket base (16) are hinged with the lower ends of two rectangular rod-shaped supporting rods (17), the middle part of each supporting rod (17) is provided with a horizontal supporting rod through groove, after each supporting rod (17) passes through the corresponding swinging rod through groove of the corresponding swinging rod (18), two ends of a double-headed screw rod (21) respectively pass through the corresponding swinging rod side wall through groove of the swinging rod (18) and the corresponding supporting rod through groove, the two fastening nut (20) positioned at two sides of the swinging rod (18) are respectively connected with two rectangular plate-shaped screw threads positioned at two sides of the swinging rod through grooves, the two symmetrical panels (19) of the right side panels of the right bracket are respectively provided with two vertical screw bolts (18) which are respectively arranged at two vertical screw plates which pass through the two vertical screw plates(s) and are respectively arranged at the two sides of the right bracket support frame, the right bracket and the right bracket frame is provided with a vertical panel (18, the upper ends of the two support rods (17) are hinged with the front parts of the corresponding support panel vertical plates.
3. The gear linear arrangement type automatic steering automobile automatic gear shifting control mechanism according to claim 2, wherein support panel through grooves in the vertical direction are symmetrically formed in the left side and the right side of a support panel (19), the support panel through grooves extend from the front portion of the support panel (19) to the rear portion of the support panel (19), two linear module assembly support frame connecting bolts penetrate through corresponding support panel through grooves and are in threaded connection with nuts, the two linear module assembly support frames (15) can move back and forth on the support panel (19) along the support panel through grooves and are fixed, the middle portion of each linear module assembly support frame (15) protrudes upwards relative to the two ends of each linear module assembly support frame (15), the upward protruding portions of each linear module assembly support frame (15) are provided with linear module assembly support frame through grooves, and the scale grating connecting bolts at the two ends of each scale grating ruler (24) penetrate through the corresponding linear module assembly support frame through grooves and are in threaded connection with one nut, so that each scale grating ruler (24) can move left and right between the two linear module assembly support frames (15) and is fixed.
4. A gear in-line automatic pilot automatic shift operating mechanism according to claim 3, characterized in that 4 bolts pass through corresponding through grooves of the linear module assembly support frames and are connected with nuts embedded in the lower surface of the linear module assembly base (14) in a threaded manner, so that the linear module assembly base (14) can move left and right and be fixed between two linear module assembly support frames (15).
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| CN201910485447.5A CN110103707B (en) | 2019-06-05 | 2019-06-05 | Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile |
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| CN201910485447.5A CN110103707B (en) | 2019-06-05 | 2019-06-05 | Automatic gear shift control mechanism of gear linear arrangement type automatic driving automobile |
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| CN110103707A CN110103707A (en) | 2019-08-09 |
| CN110103707B true CN110103707B (en) | 2024-05-17 |
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| 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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| 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 |
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