CN214197208U - Gear shifting actuating mechanism of automatic driving robot - Google Patents

Abstract

The utility model relates to a gear shifting actuating mechanism of an automatic driving robot, wherein a gear shifting swing arm mechanism comprises a first driving device, a first swing arm, a second driving device, a second swing arm and a T-shaped swing frame, wherein the first output shaft of the first drive device and the second output shaft of the second drive device are crossed orthogonally, and the head end of the first output shaft is provided with a first lower swing shaft, the head end and the tail end of the second output shaft are both provided with second lower swing shafts, the lower end of the first swing arm rotates around the first lower swing shaft, the lower ends of the two second swing arms respectively rotate around the corresponding second lower swing shafts, the upper end of the first swing arm is provided with a first upper swing shaft, the upper end of the second swing arm is provided with a second upper swing shaft, and the middle rod end of the T-shaped swing frame is connected with the first upper swing shaft, the rod ends at two sides are respectively connected with the second upper swing shafts at the corresponding sides, one end of the swing rod is connected with any one of the second upper swing shafts, and the other end of the swing rod is connected with the gear handle assembly. The utility model discloses whole occupation of ratio space is little, and the position precision is high, and can the multi-functional electron shelves of adaptation be the motorcycle type.

Description

Gear shifting actuating mechanism of automatic driving robot

Technical Field

The utility model belongs to the technical field of an automatic driving robot for vehicle detection and specifically relates to an automatic driving robot gear shift actuating mechanism.

Background

With the development of new technologies in the automobile industry, people have higher and higher requirements on the safety and reliability of automobiles, and thus automobile manufacturing enterprises are required to perform a large number of tests on the stability, safety and reliable durability of automobiles to continuously improve the technical level of automobiles.

With the continuous improvement of automobile test requirements, some environments cannot be completed by human beings or have certain dangerousness for human drivers, and at the moment, the automobile test can be completed by an automatic driving robot. Compared with a human driver, the automatic driving robot has the advantages of high precision control, good repeatability, strong fatigue durability and the like, particularly, the automatic driving robot for the road test greatly improves the automation degree through the environment sensing and identifying system, can replace the driver to complete some fatigue and dangerous driving tests, and provides guarantee for the safety of the driver and the reliability of the test result.

However, in the prior art, the whole automatic driving robot is fixedly installed on a main driving seat, the size is often too large, so that a tester cannot normally sit on a driving position, and some robots have two connecting rods with equal length. In addition, for a novel multifunctional gear shift handle (such as a gear shift handle with an electronic P key), the existing robot gear shift mechanism cannot be adapted to use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic drive robot gear shift actuating mechanism, whole account for than the space little, adopt single pendulum rod double swing arm structure, position accuracy is high, and can the multi-functional electron shelves of adaptation the motorcycle type.

The purpose of the utility model is realized through the following technical scheme:

a gear shifting actuating mechanism of an automatic driving robot comprises a gear shifting swing arm mechanism, a swing rod and a gear handle assembly, wherein the gear shifting swing arm mechanism comprises a first driving device, a first swing arm, a second driving device, a second swing arm and a T-shaped swing frame, a first output shaft of the first driving device is cross-orthogonal to a second output shaft of the second driving device, a first lower swing shaft is arranged at the head end of the first output shaft, second lower swing shafts are arranged at the head end and the tail end of the second output shaft, the lower end of the first swing arm rotates around the first lower swing shaft, the lower ends of the two second swing arms rotate around the corresponding second lower swing shafts respectively, a rotatable first upper swing shaft is arranged at the upper end of the first swing arm, a rotatable second upper swing shaft is arranged at the upper end of the second swing arm, the middle rod end of the T-shaped swing frame is connected with the first upper swing shaft, and the rod ends of the two sides of the T-shaped swing frame are connected with the, one end of the swing rod is connected with any one second upper swing shaft, the other end of the swing rod is connected with the gear handle assembly, and the T-shaped swing frame is provided with a ball handle.

The first output shaft and the second output shaft are supported through bearing seats, each bearing seat is installed on one installation plate, a support rod is arranged on one side of the installation plate, and a sliding seat is arranged at the lower end of the support rod.

First drive arrangement locates the mounting panel and keeps away from slide one side, first drive arrangement includes first motor and first right angle reduction gear, just first output shaft with first right angle reduction gear links to each other, second drive arrangement includes second motor, second right angle reduction gear and transmission case, and second motor and second right angle reduction gear all locate the mounting panel downside, the transmission case is located mounting panel one side, second right angle reduction gear output with the parallel just all with the transmission case links to each other.

The sliding seat is connected with a sliding rail under a test vehicle front passenger seat in a matching manner.

First swing arm both ends and second swing arm both ends all are equipped with the U type ring, the pendulum shaft rotates respectively to locate the opening part that corresponds the U type ring on first pendulum shaft, first last pendulum shaft, second and the second.

Pendulum rod one end pass through link assembly with swing arm mechanism of shifting links to each other, link assembly includes head rod, intermediate junction piece and second connecting rod, head rod one end is connected with arbitrary second upper balance staff middle part, the other end with the intermediate junction piece is connected, the second connecting rod with the head rod is perpendicular, just second connecting rod one end with the intermediate junction piece is connected, the other end with the pendulum rod is connected.

The gear handle assembly comprises a gear handle adapter and a P key switch control mechanism, the gear handle adapter is sleeved on a gear handle of the test vehicle, the P key switch control mechanism is arranged at the top end of the gear handle adapter, and one side of the gear handle adapter is connected with the swing rod.

The P key switch control mechanism comprises a shell, a stepping motor and a columnar screw, wherein the stepping motor is arranged in the shell, an output shaft of the stepping motor is a threaded rod, and the columnar screw is arranged on the output shaft of the stepping motor.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses a swing arm mechanism of shifting includes two drive arrangement, and the swing of the first swing arm of first drive arrangement control, the swing of second drive arrangement control second swing arm, and the lower balance staff of each swing arm lower extreme except driving the swing arm through corresponding drive arrangement drive whole rotation, each swing arm can also be around the swing of lower balance staff every single move swing that corresponds, thereby can make the ball handle on the T type rocker of upper end be spherical motion in certain space, and then drive the shelves and be spherical motion to the adapter in certain space, thereby realize the switching of the automatic fender position/manual gear of test vehicle shelves.

2. The utility model discloses a swing arm mechanism and shelves of shifting are connected through an solitary pendulum rod between the subassembly, and the swing arm of swing arm mechanism of shifting even the length that varies also can satisfy rotatory requirement, has solved the problem that test vehicle shelves length and swing arm length vary the production fundamentally.

3. The utility model discloses the slide rail cooperation under the slide and the copilot seat that the main part passes through mounting panel one side is connected to through the reasonable layout of the swing arm mechanism drive arrangement that shifts, make the widest department of mechanism only 190mm, it is little to encroach on the copilot space, can hold adult's shank and normally place, can not influence copilot position tester's taking.

4. The utility model discloses a shelves adopt profile modeling nested structure to the adapter, can effectively laminate test vehicle shelves to the outline to the shelves are equipped with P key on-off control mechanism on the adapter, can touch the upper end button to multi-functional shelves.

Drawings

Figure 1 is a schematic structural diagram of the present invention,

figure 2 is another angle structure diagram of the present invention in figure 1,

figure 3 is a schematic view of the shift rocker arm mechanism of figure 1,

figure 4 is a schematic view of the shift knob assembly of figure 1,

figure 5 is a schematic view of the P-key switch control mechanism of figure 4,

FIG. 6 is a schematic view of the state of the shift knob assembly in operation of the present invention,

fig. 7 is the utility model discloses the during operation swing arm mechanism state schematic diagram of shifting.

The mechanical transmission device comprises a gear-shifting swing arm mechanism 1, a first driving device 101, a first motor 1011, a first straight angle reducer 1012, a second driving device 102, a second motor 1021, a second straight angle reducer 1022, a transmission case 1023, a mounting plate 103, a second swing arm 104, a second lower swing shaft 1041, a second upper swing shaft 1042, a first swing arm 105, a first lower swing shaft 1051, a first upper swing shaft 1052, a first output shaft 106, a second output shaft 107, a T-shaped swing frame 108, a ball handle 109, a first connecting rod 110, a middle connecting block 111, a second connecting rod 112, a swing rod 2, a first swing rod connecting block 201, a lever handle assembly 3, a lever handle 301, a lever handle 302, a P-key switch control mechanism 3021, a stepping motor 3022, a cylindrical screw nut 3023, a housing 3023, a second swing rod connecting block 303, a lever handle adapter 304, a lever handle slide seat 4, and a supporting rod 401.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 7, the present invention includes a shifting swing arm mechanism 1, a swing rod 2 and a shift handle assembly 3, wherein the shifting swing arm mechanism 1 includes a first driving device 101, a first swing arm 105, a second driving device 102, a second swing arm 104 and a T-shaped swing frame 108, wherein a first output shaft 106 of the first driving device 101 is orthogonal to a second output shaft 107 of the second driving device 102, a head end of the first output shaft 106 is provided with a first swing shaft 1051, a head end and a tail end of the second output shaft 107 are provided with a second swing shaft 1041, the first swing shaft 1051 is driven to rotate by the first output shaft 106, the second swing shaft 1041 is driven to rotate by the second output shaft 107, a lower end of the first swing arm 105 is hinged to the first swing shaft 1051 and rotates around the first swing shaft 1051, lower ends of the two second swing arms 104 are respectively hinged to the corresponding second swing shafts 1041 and rotate around the corresponding second swing shafts 1041, the upper end of the first swing arm 105 is provided with a rotatable first upper swing shaft 1052, the upper end of the second swing arm 104 is provided with a rotatable second upper swing shaft 1042, a middle rod end of the T-shaped swing frame 108 is connected with the first upper swing shaft 1052, two side rod ends are respectively connected with the second upper swing shafts 1042 at the corresponding sides, one end of the swing rod 2 is connected with any one of the second upper swing shafts 1042 and is driven to move by the T-shaped swing frame 108, the other end of the swing rod is connected with the shift handle assembly 3, a ball handle 109 is arranged at the intersection of the rods of the T-shaped swing frame 108, as shown in fig. 7, each lower swing shaft is driven to rotate by a corresponding driving device and drives a corresponding swing arm integral body, and each swing arm rotates around the respective lower swing shaft, so that the ball handle 109 on the T-shaped swing frame 108 moves on a spherical surface with a radius of R2.

As shown in fig. 1 to 3, the first output shaft 106 and the second output shaft 107 are supported by bearing seats, each bearing seat is mounted on one mounting plate 103, a support rod 401 is disposed on one side of the mounting plate 103, and a sliding seat 4 is disposed at a lower end of the support rod 401. In addition, the first driving device 101 is disposed on the side of the mounting plate 103 far from the sliding seat 4, the first driving device 101 includes a first motor 1011 and a first right-angle reducer 1012, the tail end of the first output shaft 106 is connected to the first right-angle reducer 1012, as shown in fig. 2, the second driving device 102 includes a second motor 1021, a second right-angle reducer 1022 and a transmission case 1023, the second motor 1021 and the second right-angle reducer 1022 are both disposed on the lower side of the mounting plate 103, the transmission case 1023 is disposed on the side of the mounting plate 103, and the output end of the second right-angle reducer 1022 is parallel to the second output shaft 107, wherein the output end of the second right-angle reducer 1022 is connected to the input end of the transmission case 1023, the second output shaft 107 is connected to the output end of the transmission case 1023, and the transmission case 1023 may adopt the form of gear transmission and the like. The utility model provides a mounting panel 103 is connected through slide 4 and the slide rail cooperation under the copilot seat to through above-mentioned drive arrangement structural layout, make the widest department 190mm of mechanism, it is little to encroach on the copilot space, can hold adult's shank and normally place. In this embodiment, the main body of the swing arm mechanism 1 is 300mm × 300mm × 190mm, the mechanism is arranged between the primary driver and the secondary driver and is tightly attached to the central armrest box after being installed, and an adult can sit in the secondary driver.

As shown in fig. 3, U-shaped rings are disposed at two ends of the first swing arm 105 and two ends of the second swing arm 104, and the first lower swing shaft 1051, the first upper swing shaft 1052, the second lower swing shaft 1041 and the second upper swing shaft 1042 are respectively rotatably disposed at openings of the corresponding U-shaped rings.

As shown in fig. 3, one end of the swing rod 2 is connected to the shift swing arm mechanism 1 through a connecting rod assembly, the connecting rod assembly includes a first connecting rod 110, a middle connecting block 111 and a second connecting rod 112, one end of the first connecting rod 110 is connected to the middle of a second upper swing shaft 1042 at the upper end of the second swing arm 104 on any side, the other end of the first connecting rod is connected to the middle connecting block 111, the second connecting rod 112 is perpendicular to the first connecting rod 110, one end of the second connecting rod 112 is connected to the middle connecting block 111, one end of the swing rod 2 is provided with a first swing rod connecting block 201, and the other end of the second connecting rod 112 is connected to the first swing rod connecting block 201. The middle connecting block 111 is L-shaped, clamping ports are formed in two ends of the middle connecting block, clamping port bolts are arranged on the clamping ports, the clamping port bolts can drive the clamping ports to be opened or clamped in a screwing mode, and then the lengths of the first connecting rod 110 and the second connecting rod 112 can be adjusted to guarantee linkage of the swing rod 2, the gear shifting swing arm mechanism 1 and the gear lever assembly 3.

As shown in fig. 4, the shift knob assembly 3 includes a shift knob adapter 304 and a P-key switch control mechanism 302, the shift knob adapter 304 is fitted over a shift knob 301 of the test vehicle, and the top end of the gear shift handle adapter 304 is provided with a P key switch control mechanism 302, one side of the gear shift handle adapter 304 is provided with a second swing rod connecting block 303, one end of the swing rod 2 far away from the gear shifting swing arm mechanism 1 is connected with the second swing rod connecting block 303, as shown in fig. 4, during gear shifting, the swing rod 2 is driven to swing through the gear shifting swing arm mechanism 1, the gear shift handle adapter 304 drives the gear shift handle 301 to do non-complete-circle movement around the rotation center of the gear shift handle, the rotation radius is R1, therefore, spherical motion in a certain space is realized, in the embodiment, the gear handle can do spherical motion in a space of 200mm multiplied by 200mm, and therefore switching of automatic gears/manual gears of the test vehicle is realized. In addition, in the embodiment, the bumper handle adapter 304 adopts a profiling nested structure, is made of an organic polymer material, is light in weight, has certain elasticity and plasticity, and can effectively fit the outline of the test vehicle bumper handle 301.

As shown in fig. 5, the P-key switch control mechanism 302 includes a housing 3023, a stepping motor 3021, and a cylindrical screw 3022, the stepping motor 3021 is provided in the housing 3023, an output shaft of the stepping motor 3021 is a threaded rod, and the cylindrical screw 3022 is mounted on the output shaft of the stepping motor 3021. When the stepping motor 3021 rotates, the columnar screw 3022 moves axially along the output threaded rod of the stepping motor 3021, and then pushes the P key at the upper end of the test vehicle shift knob 301, so that the shift position is automatically switched to the P shift position. The utility model provides a P key switch control mechanism 302 control accuracy is high, and response speed is fast, in this embodiment, P key switch control mechanism 302 structure maximum output power 10N, the stroke is 0 ~ 10mm, and position resolution reaches 0.1mm, and position accuracy is 0.1mm, and speed resolution is 0.1mm/s, response time 100 ms. The P-key switch control mechanism 302 is mainly directed to a novel multifunctional shift handle.

The utility model discloses a theory of operation does:

the swing arm mechanism 1 of the present invention includes a first swing arm 105 and a second swing arm 104, and the lower end of the first swing arm 105 is provided with a first swing shaft 1051, the lower end of the second swing arm 104 is provided with a second swing shaft 1041, the first swing shaft 1051 is driven by the first driving device 101 to rotate and drive the first swing arm 105 to rotate integrally around the output shaft of the first driving device 101, and the first swing arm 105 can also rotate around the first swing shaft 1051 in pitch, and in a similar way, the second swing shaft 1041 is driven by the second driving device 102 to rotate and drive the second swing arm 104 to rotate integrally around the output shaft of the second driving device 102, and the second swing arm 104 can also swing around the corresponding second swing shaft 1041 in pitch, so that as shown in fig. 7, the ball handle 109 on the T-shaped swing frame 108 at the upper end of the swing arm mechanism 1 can move on the spherical surface with the radius R2, and the swing arm mechanism 1 is connected with the gear shift lever adapter 304 in the assembly 3 through the swing rod 2, the T-shaped swing frame 108 drives the swing rod 2 to swing, and further as shown in fig. 6, the swing rod 2 driving lever handle adapter 304 drives the test vehicle lever handle 301 to move on a spherical surface with a radius of R1, so that switching of an automatic gear/a manual gear of the test vehicle is realized. In addition to novel multi-functional shelves handle, the utility model discloses be equipped with P key switch control mechanism 302 to adapter 304 upper end at the shelves and be used for promoting the P key of shelves 301 upper end to automatically, switch into the gear P shelves.

Claims (8)

1. An automatic driving robot gear shift actuating mechanism which is characterized in that: the gear shifting swing arm mechanism comprises a gear shifting swing arm mechanism (1), swing rods (2) and a gear lever assembly (3), wherein the gear shifting swing arm mechanism (1) comprises a first driving device (101), a first swing arm (105), a second driving device (102), a second swing arm (104) and a T-shaped swing frame (108), a first output shaft (106) of the first driving device (101) and a second output shaft (107) of the second driving device (102) are orthogonal in a cross manner, a first lower swing shaft (1051) is arranged at the head end of the first output shaft (106), second lower swing shafts (1041) are respectively arranged at the head end and the tail end of the second output shaft (107), the lower end of the first swing arm (105) rotates around the first lower swing shaft (1051), the lower ends of the two second swing arms (104) respectively rotate around the corresponding second lower swing shafts (1041), a rotatable first upper swing shaft (1052) is arranged at the upper end of the first swing arm (105), a rotatable second upper swing shaft (1042) is arranged at the upper end of the second swing arm (104), and the middle rod end of the T-shaped swing frame (108) is connected with the first upper swing shaft (1052), the rod ends at two sides are respectively connected with the second upper swing shafts (1042) at the corresponding sides, one end of the swing rod (2) is connected with any one of the second upper swing shafts (1042), the other end of the swing rod is connected with the shift handle assembly (3), and the T-shaped swing frame (108) is provided with a ball handle (109).

2. The automated guided robotic shift actuator of claim 1, wherein: the first output shaft (106) and the second output shaft (107) are supported by bearing seats, each bearing seat is installed on one installation plate (103), a support rod (401) is arranged on one side of the installation plate (103), and a sliding seat (4) is arranged at the lower end of the support rod (401).

3. The automated guided robotic shift actuator of claim 2, wherein: mounting panel (103) are located to first drive arrangement (101) and are kept away from slide (4) one side, first drive arrangement (101) include first motor (1011) and first right angle reduction gear (1012), just first output shaft (106) with first right angle reduction gear (1012) link to each other, second drive arrangement (102) include second motor (1021), second right angle reduction gear (1022) and transmission case (1023), and second motor (1021) and second right angle reduction gear (1022) all locate mounting panel (103) downside, transmission case (1023) are located mounting panel (103) one side, second right angle reduction gear (1022) output with second output shaft (107) are parallel and all with transmission case (1023) link to each other.

4. The automated guided robotic shift actuator of claim 2, wherein: the sliding seat (4) is connected with a sliding rail under a front passenger seat of the test vehicle in a matching way.

5. The automated guided robotic shift actuator of claim 1, wherein: u-shaped rings are arranged at two ends of the first swing arm (105) and two ends of the second swing arm (104), and the first lower swing shaft (1051), the first upper swing shaft (1052), the second lower swing shaft (1041) and the second upper swing shaft (1042) are respectively rotatably arranged at openings corresponding to the U-shaped rings.

6. The automated guided robotic shift actuator of claim 1, wherein: pendulum rod (2) one end pass through link assembly with swing arm mechanism (1) of shifting links to each other, link assembly includes head rod (110), intermediate junction piece (111) and second connecting rod (112), head rod (110) one end is connected with arbitrary second upper balance shaft (1042) middle part, the other end with intermediate junction piece (111) are connected, second connecting rod (112) with head rod (110) are perpendicular, just second connecting rod (112) one end with intermediate junction piece (111) are connected, the other end with pendulum rod (2) are connected.

7. The automated guided robotic shift actuator of claim 1, wherein: the gear handle assembly (3) comprises a gear handle adapter (304) and a P key switch control mechanism (302), the gear handle adapter (304) is sleeved on a gear handle (301) of a test vehicle, the P key switch control mechanism (302) is arranged at the top end of the gear handle adapter (304), and one side of the gear handle adapter (304) is connected with the swing rod (2).

8. The automated guided robotic shift actuator of claim 7, wherein: p key switch control mechanism (302) includes casing (3023), step motor (3021) and column screw (3022), step motor (3021) are located in casing (3023), just step motor (3021) output shaft is the threaded rod, column screw (3022) install in on step motor (3021) output shaft.

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