CN2743097Y - Seven link lever bifreedom closed chain gear shift mechanical hand - Google Patents
Seven link lever bifreedom closed chain gear shift mechanical hand Download PDFInfo
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- CN2743097Y CN2743097Y CN 200420027440 CN200420027440U CN2743097Y CN 2743097 Y CN2743097 Y CN 2743097Y CN 200420027440 CN200420027440 CN 200420027440 CN 200420027440 U CN200420027440 U CN 200420027440U CN 2743097 Y CN2743097 Y CN 2743097Y
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Abstract
The utility model relates to a seven link lever bi-freedom closed chain gear shift mechanical hand, which is an automatic gear shifting device used for realizing the gear shifting action of the manual gearbox of an automobile. The rod end of a gear shifting cylinder (12) is connected with the rotating shaft end of a rocker A (6), the rod end of a gear engagement cylinder (13) is connected with the rotating shaft end of a rocker B (18), and a handle (8) is connected with the gear shift lever of the automobile via a handle sleeve (24). One end of the rocker A (6) and the rocker B (18) utilizes an angular displacement sensor to measure the rotation angles of the rocker A (6) and the rocker B (18) via the method of gear engagement. The gear shifting cylinder (12) drives the rocker A (6) to move and pushes a hand rod (7) to move via a push rod (5) in order to realize the gear shifting action of the gear shift lever of the automobile. The gear engagement cylinder (13) pushes the rocker B (18) to move rotatablely, a gear engagement gear (11) and a rocker B (4) move rotatablely and simultaneously, and a connecting rod A (2) and the hand rod (7) connected with the connecting rod A (2) via the rotating shaft are driven to move in order to realize the gear engagement action of the gear shift lever of the automobile.
Description
Technical field
The utility model relates to a kind of seven-link assembly double freedom closed chain changing gear manipulator that can realize vehicle manual shift transmission gear shift action, belongs to the technical field of automobile gearbox auto-shifting device.
Background technology
The gear shift lever of auto vehicles changing gear manipulator is in automatic driving, under the prerequisite of the vehicle manual wheel box not being transformed, carries out the mechanism of car gear shifting operation.When utilizing automatic driving equipment to carry out automobile test on road or on the drum dynamometer, and in the synchronizer performance and torture test of automobile gearbox, the shift lever that all needs to handle automobile as required automatically carries out gear shift.Can handle gear shift lever of auto vehicles according to order control changing gear manipulator and carry out the gear shift action, realize upgrading, lowering category and pluck neutral gear in the vehicle traveling process.
1), simple in structure requirement to changing gear manipulator is:, can install apace; 2), compact conformation, in light weight, volume is little, can compare in being installed in car in the narrow space; 3), shaped flat, volume is little, is convenient in pilothouse loading and unloading fast and need remove seat, the versatility of installation is good, requires low, common operating personnel just can independently to install through simple training to initial position fix is installed; 4), need not car gear shifting mechanism is transformed, can directly install; 5), can realize gear selecting, hang and to pluck a grade both direction motion mutually noninterfere, and motion linearity height, mechanically decoupled, convenient control; 6), switching speed, that gear shift strength is adjustable is whole; 7), can be applicable to that gear shift stroke that various wheel box models are different and different gears distribute.
The primary structure of car gear shifting mechanical arm has three kinds at present:
1), " displacement of the lines+displacement of the lines ": this mechanism can produce the mechanical couplings phenomenon in gearshift procedure, thereby increases complicacy for the Control Software algorithm, and can make that control procedure is difficult to realize.Because the time requirement of gear-change operation is shorter, it is difficult to reach high-precision gear shift campaign.
2), " angular displacement+angular displacement ": this structural volume is bigger, for the little vehicle of some cab space, be difficult to install, and installation errors will cause departure, and will produce the additional erection stress of package unit and produce deformation.
3), " articulated type ": this structure often adopts motor-driven, and volume is bigger, is difficult to realize not having damaged the installation, only is applicable to the car test bench of no pilothouse.
In order to satisfy the gear shift control requirement of gear shift lever of auto vehicles, existing several structures all can't satisfy the requirement of car steering robot to changing gear manipulator.
In addition, from the characteristic of berth-changing strength, drive system is selected for use and the most similar pneumatic transmission mode of berth-changing strength typical characteristics curve, makes gearshift procedure strong fast, high resilience.The at present domestic car gear shifting mechanical arm that does not still have special use, foreign technology are then externally open.
Summary of the invention
Technical matters: the purpose of this utility model provides a kind of seven-link assembly double freedom closed chain changing gear manipulator, do not needing under the prerequisite that car gear shifting mechanism is transformed, realization gear selecting and extension are plucked the mechanically decoupled of grade both direction motion, are applicable to the manual-shift gearbox that different gear shift strokes, different gear distribute.Control the composite move that gear selecting and engage a gear cylinder can be realized car gear shifting respectively according to control command.
Technical scheme: the utility model solves the technical scheme that its technical matters adopts and is:
Seven-link assembly double freedom closed chain changing gear manipulator is made up of gear shift linkage assembly and cylinder, it is characterized in that seven-link assembly mechanism by rocking bar A, connecting rod A, and connecting rod B, rocking bar B, push rod, fork A, hand lever is formed; Wherein, the end of rocking bar A is articulated on the gear selecting pedestal by rotating shaft C, and the other end of rocking bar A and connecting rod A are hinged, and the other end of connecting rod A and connecting rod B, push rod, hand lever are hinged on rotating shaft A; Connecting rod B and rocking bar B are hinged on rotating shaft B, and rocking bar B and fork B are fixedly connected, and its fixed connection place is hinged on the rotating shaft E, and rotating shaft E is fixed on the engage a gear pedestal; Push rod, fork A are hinged on rotating shaft F, and the end of fork A is connected with the rod end of gear selecting cylinder, and the other end and the rotating shaft D of fork A are hinged, and rotating shaft D is fixed on the gear selecting pedestal; The rod end of fork B and engage a gear cylinder is hinged; Seven-link assembly mechanism is fixed on the box bottom by engage a gear pedestal and gear selecting pedestal.Be fixed with the gear selecting gear at the place of being hinged of fork A and rotating shaft D, this gear selecting gear and the pinion that is being connected angular displacement sensor.The place of being hinged of fork B and rotating shaft E is fixed with the engage a gear gear, this engage a gear gear and the pinion that is being connected angular displacement sensor.
Seven-link assembly double freedom closed chain changing gear manipulator is detected by gear shift linkage assembly and cylinder location and motion control is partly formed.The rear end of gear selecting cylinder and engage a gear cylinder is affixed on the base plate, and the rod end of gear selecting cylinder is connected to the rotating shaft end of fork A, and engage a gear cylinder rod end is connected to the rotating shaft end of fork B, and handle links together by taper knob and gear shift lever of auto vehicles; In engage a gear and gear selecting motion, fork A and fork B rotate, and utilize angular displacement sensor to record the changing gear manipulator current location.In the time of the gear selecting cylinder moving, rotating shaft B holding position is constant, and fork A D around the shaft rotatablely moves, and promotes the hand lever motion by push rod, realizes the gear selecting action of gear shift lever of auto vehicles, obtains the position of gear selecting by the gear selecting angular displacement sensor.In the time of the engage a gear cylinder moving, rotating shaft F holding position is constant, fork B rotates, engage a gear gear and rocking bar B rotate simultaneously, drivening rod A and the hand lever motion that is connected by rotating shaft with connecting rod A, the motion of the four-bar mechanism of being made up of rocking bar A, connecting rod A, push rod, fork A has determined the position of handle, thereby realizes the engage a gear of gear shift lever of auto vehicles and pluck the shelves action, obtains the position of engage a gear by the engage a gear angular displacement sensor.Rocking bar A, push rod and rocking bar B are the parallel motion relation.The compound motion of gear selecting and engage a gear both direction can be realized the gear shift action of all gears of various wheel boxes.
Cylinder adopts cylinder with lock,, is grabbing handle by testing crew and is carrying out the teaching gear shift all under the situation of release at both direction, changes to after certain gear, utilizes two angular transducers record gear positions.Gear selecting cylinder and engage a gear cylinder all adopt the fixing mode of an end, and the other end can rotatablely move freely.Gear selecting cylinder D is around the shaft done translation and is rotatablely moved, and guarantees in gear selecting process shaft A holding position constant; The engage a gear cylinder is when promoting rocking bar B and rotatablely moving, and E does translation and rotatablely moves around the shaft, guarantees at engage a gear, to pluck grade process shaft F holding position constant.
The ball hinge is partly adopted in rotating shaft, makes rocking bar A, connecting rod A, and connecting rod B, rocking bar B, push rod, fork A can have small rotation around X-axis and Y-axis, can compensate the nonlinear area of gear shift track automatically.Seven-link assembly, rocking bar A, connecting rod A, connecting rod B, rocking bar B, push rod, the length of fork A is through optimized design, guarantees in the gear shift moving region gear selecting and hangs the linearity of plucking grade movement locus.
By the supply gas pressure of adjusting engage a gear cylinder and the aperture of cylinder exhaust port, can realize the adjusting of gear shift strength and switching speed, thereby make this changing gear manipulator can be applicable to the fluid drive occasion of all size wheel box.
Beneficial effect:
1. distribute for the wheel box of different model and different wheel box gears, obtain gear selecting and hang the position of plucking shelves, make changing gear manipulator applied widely by the mode of direct teaching.
2. changing gear manipulator is connected with gear shift lever of auto vehicles at the taper knob of handling position by the band spring, need not the shifter of vehicle is transformed; Hand lever can rotate around the Z axle simultaneously, and the displacement and the corner of Z-direction in the shift lever gearshift procedure handled in compensation.
3. length of connecting rod is through optimized design, and guarantee in the gear shift moving region gear selecting and hang and pluck grade linearity of motion process track, and gear selecting, hang and pluck a grade both direction motion mutually noninterfere, motion linearity height, mechanically decoupled, control is convenient.
4. switching speed and gear shift strength are directly adjustable, are applicable to various gear shift application scenarios, and air-driven actuating medium is an air, have fast, the compressible and shock proof characteristic of speed, and is more identical with people's elasticity of muscle and compliance.
Description of drawings
Fig. 1 is one-piece construction figure of the present utility model.
Fig. 2 is the sectional view of A-A part among Fig. 1.
Fig. 3 is the sectional view of B-B part among Fig. 1.
Fig. 4 is a seven-link assembly structure diagram of the present utility model.
Fig. 5 is a gear shift lever of auto vehicles movement locus sketch.
Wherein have: rocking bar A (1), connecting rod A (2), connecting rod B (3), rocking bar B (4), push rod (5), fork A (6), hand lever (7), handle (8), engage a gear pedestal (9), engage a gear sensor stand (10), engage a gear gear (11), gear selecting cylinder (12), engage a gear cylinder (13), gear selecting sensor stand (14), gear selecting pedestal (15), gear selecting gear (16), rotating shaft (17), fork B (18), interior hexagonal cylinder screw (19), bulb (20), taper knob nut (21), volute spring (22), bale handle (23), taper knob (24), rotating shaft A (25), rotating shaft B (26), rotating shaft C (27), rotating shaft D (28), rotating shaft E (29), rotating shaft F (30).
Embodiment
Seven-link assembly double freedom closed chain changing gear manipulator is detected by gear shift linkage assembly and cylinder location and motion control is partly formed.In Fig. 1, whole seven-link assembly mechanism is fixed on the box bottom by engage a gear pedestal 9 and gear selecting pedestal 15, and the rear end of gear selecting cylinder 12 and engage a gear cylinder 13 is affixed on the box side by rotating shaft.The rod end of gear selecting cylinder 12 is connected to the rotating shaft end of fork A6, and engage a gear cylinder 13 rod ends are connected to the rotating shaft end of fork B18, and gear selecting cylinder 12 and engage a gear cylinder 13 all adopt the fixing mode of an end, and the other end can rotatablely move freely.Gear selecting cylinder 12 can be around the shaft 28 be done translation and is rotatablely moved, and remains unchanged in gear selecting process shaft 26 positions guaranteeing; Engage a gear cylinder 13 can be around the shaft 29 be done translation and is rotatablely moved when promoting rocking bar B4 and rotatablely moving, to guarantee at engage a gear, to pluck grade process shaft 30 positions and remain unchanged.
End at fork A6 and fork B18 is being connected engage a gear gear 11, gear selecting gear 16 by screw, gear and the pinion that is being connected angular displacement sensor.In engage a gear and gear selecting motion, fork A6 and fork B18 rotate, and utilize angular displacement sensor to record the changing gear manipulator current location.In the time of 12 motions of gear selecting cylinder, rotating shaft B26 holding position is constant, and fork A6 F28 around the shaft rotatablely moves, and promotes hand lever 7 motions by push rod 5, realizes the gear selecting action of gear shift lever of auto vehicles.In the time of 13 motions of engage a gear cylinder, rotating shaft F30 holding position is constant, fork B18 rotates, engage a gear gear 11 and rocking bar B4 rotate simultaneously, drivening rod A2 and hand lever 7 motions that are connected by rotating shaft with connecting rod A2, the motion of the four-bar mechanism of being made up of rocking bar A1, connecting rod A2, push rod 5, fork A6 has determined the position of handle 8, thereby realizes the engage a gear of gear shift lever of auto vehicles and pluck the shelves action.Rocking bar A1, push rod 5 and rocking bar B4 are the parallel motion relation.The compound motion of gear selecting and engage a gear both direction can be realized the gear shift action of all gears of various wheel boxes.Length of connecting rod guarantees that through optimized design gear selecting is plucked grade linearity of motion process track with hanging in the gear shift moving region.Two connecting rods of fork A6 are connected by an end in Fig. 2, and an end makes gear selecting, extension pluck two cylinders of shelves and stagger mutually noninterfere mutually on space by rotating shaft F30 ways of connecting.
Cylinder adopts cylinder with lock,, is grabbing handle (8) by testing crew and is carrying out the teaching gear shift all under the situation of release at both direction, changes to after certain gear, utilizes two angular transducers record gear positions.In gearshift procedure, air-driven actuating medium is an air, has fast, the compressible and shock proof characteristic of speed, and is more identical with people's elasticity of muscle and compliance, makes gearshift procedure strong fast, high resilience.By the supply gas pressure of adjusting engage a gear cylinder and the aperture of cylinder exhaust port, can realize the adjusting of gear shift strength and switching speed, thereby make this changing gear manipulator can be applicable to the fluid drive occasion of all size wheel box.By the direct teaching of testing crew, the gear selecting and the shift pattern of seven-link assembly changing gear manipulator study wheel box, the gear shift action of mechanical arm directly realizes that by the elongation and the withdrawal control of gear selecting cylinder 12 and engage a gear cylinder 13 mechanically decoupled, control is convenient.
The ball hinge is partly adopted in rotating shaft, makes rocking bar A1, connecting rod A2, and connecting rod B3, rocking bar B4, push rod 5, fork A6 can have small rotation around X-axis and Y-axis, can compensate the nonlinear area of gear shift track automatically.
In Fig. 1, the bar of groove milling used two hex bolts to link together in the middle of hand lever 7 adopted two, can hanging, plucking on grade stroke and adjust to different automobile gearboxes, make the changing gear manipulator casing good, require low initial position fix is installed in the versatility of the indoor installation of car steering.Gear selecting cylinder 12 and engage a gear cylinder 13 secured in parallel in casing, compact conformation, in light weight, volume is little, can compare in the narrow space in being installed in car.
In Fig. 3, hand lever 7 and connecting rod A2 make hand lever 7 to rotate around the ball strand by ball hinge connected mode, after the taper knob 24 of mechanical arm and gear shift lever of auto vehicles connect, in gearshift procedure, hand lever 7 can rotate with the rotation of shift lever, the displacement of compensation Z-direction.The movement locus of gear shift lever of auto vehicles gearshift procedure is approximately a curved surface, hexagonal cylinder screw 19 linked together in taper knob 24 used by bulb 20 and handle 8, bulb 20 can be done freely to rotate in taper knob 24, guarantee that in the shift lever movement locus of Fig. 5, taper knob 24 can rotate together with shift lever.By volute spring 22, bale handle 23 connects between taper knob nut 21 and the taper knob 24, guarantees to be rich in movement flexible in Z-direction in the gearshift procedure, prevents that seven-link assembly mechanism suppresses tightly in the gearshift procedure.
Claims (7)
1. a seven-link assembly double freedom closed chain changing gear manipulator is made up of gear shift linkage assembly and cylinder, it is characterized in that seven-link assembly mechanism by rocking bar A (1), connecting rod A (2), and connecting rod B (3), rocking bar B (4), push rod (5), fork A (6), hand lever (7) is formed; Wherein, the end of rocking bar A (1) is articulated on the gear selecting pedestal (15) by rotating shaft C (27), the other end of rocking bar A (1) and connecting rod A (2) are hinged, and the other end of connecting rod A (2) and connecting rod B (3), push rod (5), hand lever (7) are hinged on rotating shaft A (25); Connecting rod B (3) and rocking bar B (4) are hinged on rotating shaft B (26), and rocking bar B (4) and fork B (18) are fixedly connected, and its fixed connection place is hinged on the rotating shaft E (29), and rotating shaft E (29) is fixed on the engage a gear pedestal (9); Push rod (5), fork A (6) are hinged on rotating shaft F (30), and the end of fork A (6) is connected with the rod end of gear selecting cylinder (12), and the other end of fork A (6) and rotating shaft D (28) are hinged.Rotating shaft D (28) is fixed on the gear selecting pedestal (15); Fork B (18) is hinged with the rod end of engage a gear cylinder (13); Seven-link assembly mechanism is fixed on the box bottom by engage a gear pedestal (9) and gear selecting pedestal (15).
2. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1, it is characterized in that being fixed with gear selecting gear (16), this gear selecting gear (16) and the pinion that is being connected angular displacement sensor at the place of being hinged of fork A (6) and rotating shaft D (28).
3. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1, it is characterized in that fork B (18) and the place of being hinged of rotating shaft E (29) are fixed with engage a gear gear (11), this engage a gear gear (11) and the pinion that is being connected angular displacement sensor.
4. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1 is characterized in that rotating shaft partly adopts the ball hinge.
5. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1 is characterized in that hand lever (7) and connecting rod A (2) are by ball hinge connected mode.
6. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1 is characterized in that taper knob (24) uses interior hexagonal cylinder screw (19) to link together by bulb (20) and handle (8).
7. seven-link assembly double freedom closed chain changing gear manipulator according to claim 1 is characterized in that connecting by volute spring (22), bale handle (23) between taper knob nut (21) and the taper knob (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420027440 CN2743097Y (en) | 2004-05-31 | 2004-05-31 | Seven link lever bifreedom closed chain gear shift mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420027440 CN2743097Y (en) | 2004-05-31 | 2004-05-31 | Seven link lever bifreedom closed chain gear shift mechanical hand |
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| Publication Number | Publication Date |
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| CN2743097Y true CN2743097Y (en) | 2005-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200420027440 Expired - Fee Related CN2743097Y (en) | 2004-05-31 | 2004-05-31 | Seven link lever bifreedom closed chain gear shift mechanical hand |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102384850A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN102393308A (en) * | 2011-09-07 | 2012-03-28 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN103105293A (en) * | 2011-11-15 | 2013-05-15 | 南通常测机电设备有限公司 | Gear shifting manipulator |
| CN104227709A (en) * | 2014-09-03 | 2014-12-24 | 中国科学院合肥物质科学研究院 | Automobile gear shifting mechanical hand based on space parallel connection four-connecting-rod mechanism and control method of automobile gear shifting mechanical hand |
| CN105068595A (en) * | 2015-09-07 | 2015-11-18 | 南京农业大学 | Force/position hybrid control-based tractor driving robot |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN106323627A (en) * | 2015-06-26 | 2017-01-11 | 比亚迪股份有限公司 | Automatic running stand for transmission |
| CN106482921A (en) * | 2016-11-25 | 2017-03-08 | 华南理工大学 | A kind of two degrees of freedom closed chain compliant mechanism vibration measurement control device and method |
| CN108318247A (en) * | 2018-02-08 | 2018-07-24 | 安徽江淮汽车集团股份有限公司 | A kind of halting mechanism durability test apparatus |
| CN109202865A (en) * | 2018-07-27 | 2019-01-15 | 南京理工大学 | A kind of two-freedom parallel connection gear shifting manipulator |
| CN110091313A (en) * | 2019-04-25 | 2019-08-06 | 南京理工大学 | A kind of gear shifting manipulator based on parallel manipulator |
| CN113125147A (en) * | 2021-03-08 | 2021-07-16 | 宝鸡法士特齿轮有限责任公司 | Multifunctional gear selecting experimental device for offline experiment of transmission assembly |
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2004
- 2004-05-31 CN CN 200420027440 patent/CN2743097Y/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393308A (en) * | 2011-09-07 | 2012-03-28 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN102393308B (en) * | 2011-09-07 | 2013-12-25 | 中国汽车技术研究中心 | Driving robot used for automobile test |
| CN102384850B (en) * | 2011-09-07 | 2013-12-25 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN102384850A (en) * | 2011-09-07 | 2012-03-21 | 中国汽车技术研究中心 | Gear shift manipulator used in automobile test |
| CN103105293A (en) * | 2011-11-15 | 2013-05-15 | 南通常测机电设备有限公司 | Gear shifting manipulator |
| CN104227709B (en) * | 2014-09-03 | 2015-12-30 | 中国科学院合肥物质科学研究院 | Based on car gear shifting manipulator and the control method thereof of Spatial Parallel quadric chain |
| CN104227709A (en) * | 2014-09-03 | 2014-12-24 | 中国科学院合肥物质科学研究院 | Automobile gear shifting mechanical hand based on space parallel connection four-connecting-rod mechanism and control method of automobile gear shifting mechanical hand |
| CN106323627A (en) * | 2015-06-26 | 2017-01-11 | 比亚迪股份有限公司 | Automatic running stand for transmission |
| CN105068595A (en) * | 2015-09-07 | 2015-11-18 | 南京农业大学 | Force/position hybrid control-based tractor driving robot |
| CN105806629A (en) * | 2016-03-24 | 2016-07-27 | 南京理工大学 | Driving robot gear shifting manipulator driven by two-freedom-degree electromagnetic actuator |
| CN105865805A (en) * | 2016-05-04 | 2016-08-17 | 南京理工大学 | Electromagnetic drive robot driver for automobile tests |
| CN105865805B (en) * | 2016-05-04 | 2018-11-13 | 南京理工大学 | A kind of electromagnetic drive drive robot for automobile test |
| CN106482921B (en) * | 2016-11-25 | 2019-01-18 | 华南理工大学 | A kind of two degrees of freedom closed chain compliant mechanism vibration measurement control device and method |
| CN106482921A (en) * | 2016-11-25 | 2017-03-08 | 华南理工大学 | A kind of two degrees of freedom closed chain compliant mechanism vibration measurement control device and method |
| CN108318247B (en) * | 2018-02-08 | 2019-12-03 | 安徽江淮汽车集团股份有限公司 | A kind of halting mechanism durability test apparatus |
| CN108318247A (en) * | 2018-02-08 | 2018-07-24 | 安徽江淮汽车集团股份有限公司 | A kind of halting mechanism durability test apparatus |
| CN109202865A (en) * | 2018-07-27 | 2019-01-15 | 南京理工大学 | A kind of two-freedom parallel connection gear shifting manipulator |
| CN110091313A (en) * | 2019-04-25 | 2019-08-06 | 南京理工大学 | A kind of gear shifting manipulator based on parallel manipulator |
| CN110091313B (en) * | 2019-04-25 | 2022-02-18 | 南京理工大学 | Gear shifting manipulator based on parallel execution mechanism |
| CN113125147A (en) * | 2021-03-08 | 2021-07-16 | 宝鸡法士特齿轮有限责任公司 | Multifunctional gear selecting experimental device for offline experiment of transmission assembly |
| CN113125147B (en) * | 2021-03-08 | 2024-01-05 | 宝鸡法士特齿轮有限责任公司 | Multifunctional gear selection experimental device for transmission assembly offline experiments |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |