CN102384850A - Gear shift manipulator used in automobile test - Google Patents
Gear shift manipulator used in automobile test Download PDFInfo
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- CN102384850A CN102384850A CN2011102643543A CN201110264354A CN102384850A CN 102384850 A CN102384850 A CN 102384850A CN 2011102643543 A CN2011102643543 A CN 2011102643543A CN 201110264354 A CN201110264354 A CN 201110264354A CN 102384850 A CN102384850 A CN 102384850A
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Abstract
The invention belongs to the automobile-test automatic driving apparatus technology field and relates to a gear shift manipulator used in an automobile test. The gear shift manipulator comprises: a gear selecting motor, a gear shift motor, a gear selecting shaft, a gear shift shaft, a large arm I, a large arm II, a large arm III, a small arm I, a small arm II, two L-shaped regulating arms, a wrist connecting rod, an elbow joint and a gear shift rod sleeve. The elbow joint comprises: an elbow joint shaft I, an elbow joint shaft II, an elbow joint shaft support I, an elbow joint shaft support II and a pin. The elbow joint shaft I is flexibly connected with the elbow joint shaft support I and the elbow joint shaft support II. The elbow joint shaft support I is respectively connected with upper parts of the large arm I and the large arm II through the pin. The elbow joint shaft support II is connected with the upper part of the large arm III through the pin. The elbow joint shaft II is flexibly connected with the elbow joint shaft support I. The gear shift rod sleeve is respectively connected with the two L-shaped regulating arms through the wrist connecting rod. In the invention, a gear selecting motion process and a gear shift motion process are not interfered with each other. Decoupling of putting into gear can be realized. Control is convenient.
Description
Technical field
The present invention relates to a kind ofly can in automobile test, replace human driver's electrodynamic type pilot instrument.Belong to automobile test servomechanism technical field.
Background technology
In recent years, automobile pollution increases fast, causes the pollution problem that objectionable impurities caused in the motor vehicle emission tail gas to highlight gradually.For this reason, country has enacted and enforced strict automobile emissions standards with content of harmful in the restriction tail gas.The permanance cyclic test time is long; The accuracy of speed tracking and repeatability precision depend on the driving skills and the reaction velocity of testing crew in process of the test; And the circulation speed of a motor vehicle constantly changes; Testing requirements car speed error must be controlled in the 2km/h, thereby can reduce the reliability of emission testing data.The noise that dynamometer machine equipment sends, the tail gas of vehicular discharge are to the pollution of air ambient, and long-time uninteresting driving all can cause certain injury to the driver.Therefore, need substitute human driver with the automobile test drive robot and make an experiment, use objectivity and accuracy that the automobile test drive robot can the warranty test data, alleviate the fatigue of human pilot, reduce the injury of rugged surroundings testing crew.In addition, the car steering robot application in the discharging endurancing, can also be shortened test period, reduce testing expenses significantly, improve test efficiency.
External automobile test development starting is morning, and the Robotics data of offshore company is maintained secrecy, and is externally open.The company that develops this robotlike mainly contains, companies such as company such as Japan little wild Co., Ltd. (ONOSOKKI), AUTOPILOT, HORIBA, the LBECO company of the U.S., companies such as the MIRA of Britain, Froude Consine, Anthony Best Dynamics.
No. 200410065844.0 domestic patents are to describe drive robot.It utilizes the step motor control throttle, realizes the accurate location of throttle position.Detent, clutch coupling and gearshift mechanical arm use cylinder as power source, regulate through corresponding air valve and realize moving fast.Because the compressibility of gas is big, speed and position are carried out difficulty of accurate control ratio, and damping is undesirable.On-the-spot robot control computer is according to the driver behavior requirement, and control motor and cylinder are accomplished the cooperation between driver behavior and the sequential.The throttle pedipulator of this robot only leans on driven by power; Vehicle just goes with a certain speed per hour in the process that test is carried out; If because some factor causes electric power to interrupt suddenly; The throttle pedipulator of this drive robot will rest on current location so, can't reclaim automatically and lift gas pedal, have certain potential safety hazard for vehicle and testing crew.
The topworks of automobile test drive robot generally includes the throttle pedipulator, braking pedipulator, clutch mechanism leg, gearshift mechanical arm.The automobile test drive robot is divided three classes according to its type of drive, comprises hydraulic-driven, and air pressure drives and three kinds of fundamental types of motor-driven.Hydraulically powered shortcoming is high for the seal request that contains the hydraulic oil element, will cause environmental pollution if reveal, and pipeline structure is complicated, and maintenance requirement is high; Air pressure gas driving compressibility is big, and to the accurate control difficulty of speed and position, damping is poor.Motor-driven can be divided into common AC/DC motor and servomotor again, and common AC/DC motor control performance is poor, and inertia is big, is difficult for accurately location; The volume of servomotor is little, and control performance is good, and the control dirigibility is strong, can realize the accurate control to speed and position.
The mechanical drive form of traditional automobile test drive robot gearshift mechanical arm can adopt pinion and-rack, and the advantage of this form is that the location is accurate, and shortcoming is a complex structure, and rack stroke is big, and the complete machine size is big; Angle is controlled two power rod-types, and advantage is simple in structure, and is non-maintaining, but control is complicated.
Summary of the invention
To the deficiency of prior art, the purpose of this invention is to provide a kind of can being applied in and replace human driver, carry out automobile test, especially the gearshift mechanical arm on the electric drive robot device of endurancing.It can adapt to dissimilar, and the vehicle of different gearshift forms on the basis of vehicle not being transformed, is installed in the pilothouse.
Technical scheme of the present invention is: a kind of automobile test is with the gearshift mechanical arm; Comprise block selecting motor, shift motor, gearshift axle, big arm I, big arm II, big arm III, forearm I, forearm II, two L shaped regulating arms, wrist connecting link, elbow joint and gear level sleeves of driving by the motor-driven block selecting axle of block selecting, by shift motor; Described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I; Elbow joint bracing strut II and bearing pin; Elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II flexibly connect; Elbow joint bracing strut I is connected with the top of big arm I and big arm II respectively through bearing pin, and elbow joint bracing strut II is connected through the top of bearing pin with big arm III, and elbow joint axle II and elbow joint bracing strut I flexibly connect; The block selecting axle is connected through the bottom of bearing pin with big arm III, and big arm I is connected to the gearshift axle with big arm II bottom through bearing pin; Locking is connected the end of forearm I and forearm II with elbow joint axle I with elbow joint axle II respectively, and the other end links to each other with two L type regulating arms respectively, and the gear level sleeve is connected with two L shaped regulating arms respectively through the wrist connecting link.
As preferred implementation, described automobile test comprises the angular displacement sensor of the movement position that is used to obtain sleeve with the gearshift mechanical arm, and its output is used for control gearshift action; The block selecting motor links to each other with its reductor, and speed reducer output shaft is connected with the block selecting axle through shaft coupling; Shift motor links to each other with its reductor, and speed reducer output shaft is connected with the gearshift axle through shaft coupling; Two L type regulating arms are provided with the position adjustments hole of the entire length that is used to change forearm; The wrist connecting link is provided with the adjustment hole that is used to regulate gear level sleeve position.
Gearshift mechanical arm of the present invention adopts the vertical mode of placing of servomotor, and a driving device arm moves to the left or to the right, accomplishes the block selecting action; A driving device arm moves forwards or backwards, and accomplishes the gearshift action.Two motion processes of block selecting and gearshift, mutually noninterfere has realized the decoupling zero of engage a gear action, control is convenient.And, employing driven by servomotor of the present invention, starting moment is big, and range of operation is wide, low vibration; Have higher response speed, precision and frequency; Has excellent control characteristic and strong robustness.And the present invention has compact conformation, is easy to the advantage of installation and maintenance.
Description of drawings
Fig. 1 is the side view of complete machine of the present invention.
Fig. 2 is the front view of complete machine of the present invention.
Fig. 3 is the vertical view of complete machine of the present invention.
Fig. 4 is the side view of clutch mechanism leg driver element.
Fig. 5 is the vertical view of detent pedipulator driver element.
Fig. 6 is the vertical view of throttle pedipulator driver element.
Fig. 7 is the front elevation of gearshift mechanical arm.
Fig. 8 is the left view of gearshift mechanical arm.
Fig. 9 is the vertical view of gearshift mechanical arm.
Figure 10 is the right view of gearshift mechanical arm.
Figure 11 is the vertical view of clutch mechanism leg.
Figure 12 is the vertical view of detent pedipulator.
Figure 13 is the vertical view of throttle pedipulator.
Comprising: complete machine fixed base plate 1, rotary bottom plate 2, rotating shaft 3 is regulated bolt 4, clutch mechanism leg driver element external part 5, the nonrotational part 6 in spherical universal joint, bearing seat 7; Linear displacement transducer 8, bearing pin 9, small sheave 10, reductor fixed support 11, compression spring 12, driving stem 13 drives pole socket 14; Servomotor 15, reductor 16, large pulley 17, axle sleeve 18, bearing 19, detent pedipulator driver element external part 20, the nonrotational part 21 in spherical universal joint; Bearing seat 22, axle sleeve 23, large pulley 24, bearing pin 25, small sheave 26, reductor fixed support 27, reductor 28; Servomotor 29 drives pole socket 30, driving stem 31, compression spring 32, linear displacement transducer 33, bearing 34, throttle pedipulator driver element external part 35; The nonrotational part 36 in spherical universal joint, bearing seat 37, axle sleeve 38, large pulley 39, reductor fixed support 40, reductor 41, servomotor 42; Drive pole socket 43 compression springs 44, driving stem 45, linear displacement transducer 46, small sheave 47, bearing pin 48, bearing 49, clutch pedipulator outer tube 50; Binding ring 51, clutch pedal folder 52, spherical universal joint 53, pipe 54 in the clutch pedipulator, bearing 55, robot base 56, block selecting motor 57; Gearshift axle 58, bearing 59, shaft coupling 60, shift motor reductor 61, shift motor 62, big arm I 63, elbow joint axle II64; Elbow joint axle I 65, big arm II66, forearm I 67, L shaped regulating arm I 68, gear level sleeve 69, L shaped regulating arm II70, forearm II71; Bearing 72, block selecting axle 73, shaft coupling 74, block selecting motor reducer 75, wrist connecting link I 76, wrist connecting link II77, big arm III78; Elbow joint bracing strut I 79, elbow joint bracing strut II80, bearing pin 81, angular displacement sensor 82, braking pedipulator outer tube 83, binding ring 84, brake pedal folder 85; Spherical universal joint 86, pipe 87 in the braking pedipulator, throttle pedipulator outer tube 88, binding ring 89, gas pedal folder 90, spherical universal joint 91, pipe 92 in the throttle pedipulator.
Embodiment
In order further to understand summary of the invention of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:
See also Fig. 1～Fig. 3; Adopt the drive robot of changing gear manipulator of the present invention to belong to a kind of pulley-type drive robot; Comprise robot base 1, be placed on the pilot set that clutch mechanism leg driver element external part 5 inserts in the clutch mechanism leg outer tube 50; Clutch pedal folder 52 is connected with clutch pedal; Detent pedipulator driver element external part 20 inserts in the detent pedipulator outer tubes 82, and brake pedal folder 84 is connected with brake pedal, in the throttle pedipulator driver element external part external part 35 insertion throttle pedipulator outer tubes 87; Throttle pedipulator pedal folder 89 is connected with gas pedal, and the mechanical arm of shifting gears passes through gear level sleeve 69 and is connected with the automobile gear shift shift lever.Regulate bolt 4 and pass rotating shaft 3, and vertical with rotary bottom plate rear portion extension, the length of bolt 4 is regulated in change, and rotating shaft 3 is rotated around its axle, the angle of adjustment rotary bottom plate 2 and fixed base plate 1.Make rotary bottom plate 2 planes point to pedal of vehicles, and guarantee near normal, can reduce pedipulator drive unit drives motor power waste in the course of the work like this.The big arm I 63 of mechanical arm, big arm II66, big arm III78 is vertical with fixed base plate as far as possible, through changing the length of L shaped regulating arm 68 (70), wrist connecting link I 76, the position of wrist connecting link II77 makes socket of gear level sleeve and gear level.The clutch pedal of vehicle, brake pedal, gas pedal and gear level are connected with the actuating station of robot, have realized its harmless installation on vehicle.
Consult Fig. 4; Clutch mechanism leg driver element adopts servomotor as power source; Reductor 16 hugs formula with servomotor 15 employings and is connected, and servomotor and reductor thereof are fixed on the rotary bottom plate 2 by support 11, and speed reducer output shaft stretches into formula through axle sleeve 18 with bearing 19 and is connected.It is 18 affixed that large pulley 17 and speed reducer output shaft overlap, and small sheave 10 is installed on the pivot pin 9.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on the large pulley, makes wire rope direction of motion vertical with the large pulley sense of rotation through small sheave, and the other end and driving stem 13 rear ends are affixed.Compression spring 12 is enclosed within driving stem 13 outsides, and front end is connected with the reductor fixed support, and the rear end is connected with the execution rod rear end.Driving stem is made up of four thin bars, and small sheave edge and its center guarantee that lineoutofservice signal pull can not produce the component of other directions in transmittance process, cause the loss of power on a horizontal line.Driving stem passes reductor fixed support 11 and bearing in reduction gears seat 7 stretches out forward.The nonrotational part 6 in spherical universal joint is affixed with execution bar external part, and clutch mechanism leg driver element external part 5 stretches into formula with the clutch mechanism leg and is connected.Consult Fig. 7, the clutch mechanism leg is by expansion link outer tube 50, interior pipe 54, and spherical universal joint 53, clutch coupling presss from both sides 52 plates and constitutes.Interior pipe is nonrotationally held with the spherical universal joint and is connected, and rotating part is threaded with the clutch pedal folder.The servomotor of clutch drive rotates the pulling steel wire tow line, and stay cord is through the pulley conversion direction, and compression spring spurs driving stem and travels forward, and driving stem stretches out end and is connected with clutch mechanism leg plug-in type, drives clutch mechanism leg solenoidoperated cluthes pedal.Drive linear displacement transducer 8 through driving stem in the clutch pedipulator driver, obtain the position of clutch mechanism leg.The clutch coupling driver element is through regulating the rotating speed and the start-stop time of servomotor; Thereby the movement velocity of controlling and driving bar realizes the clutch mechanism leg and reclaims the adjusting of speed; Reached in automobile starting and the shift process requirement to the clutch operating speed; Reduce shift process and impact, guaranteed the ride comfort of automobile starting and gearshift.
Consult Fig. 5; Detent pedipulator driver element by servomotor 29 as power source; Reductor 28 hugs formula with servomotor 29 employings and is connected, and servomotor and reductor thereof are connected on the rotary bottom plate 2 by support solid 27, and speed reducer output shaft is connected with bearing 34 through axle sleeve 23.It is 23 affixed that large pulley 24 and speed reducer output shaft overlap, and small sheave 26 is installed on the pivot pin 25.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on the large pulley, makes wire rope direction of motion vertical with the large pulley sense of rotation through small sheave, and the other end and driving stem rear end are affixed.Compression spring 32 is enclosed within driving stem 31 outsides, and front end is connected with the reductor fixed support, and the rear end is connected with the execution rod rear end.Driving stem passes the reductor fixed support and the bearing in reduction gears seat stretches out forward.The nonrotational part 21 in spherical universal joint is affixed with execution bar external part, and rotating part 20 stretches into formula with the detent pedipulator and is connected.Consult Figure 12, the detent pedipulator is by expansion link outer tube 83, interior pipe 87, and spherical universal joint 86, detent clamping plate 85 constitute.Interior pipe is nonrotationally held with the spherical universal joint and is connected, and rotating part is threaded with the brake pedal folder.The servomotor of detent driver element rotates the pulling steel wire tow line, and stay cord is through the pulley conversion direction, and compression spring spurs driving stem and travels forward, and driving stem stretches out end and is connected drive brake device pedipulator control brake device pedal with detent pedipulator plug-in type.Drive linear displacement transducer 33 through driving stem in the detent pedipulator driver element, obtain the position of detent pedipulator.Detent pedipulator driver element is through the rotating speed of control servomotor; Follow the long duration test working condition requirement; The time that regulating brake pedal folder is trampled brake pedal changes the retarded velocity in the Motor Vehicle Braking Procedure, guarantees the accuracy of car speed to the working condition requirement speed tracking.
Consult Fig. 6; Throttle pedipulator control device by servomotor 42 as power source; Reductor 41 hugs formula with the servomotor employing and is connected, and servomotor and reductor thereof are fixed on the rotary bottom plate 2 by support 40, and speed reducer output shaft is connected with bearing 37 through axle sleeve 38.It is 38 affixed that large pulley 39 and speed reducer output shaft overlap, and small sheave 47 is installed on the pivot pin 48.The surface level of large pulley lower surface and small sheave is tangent.Wire rope one end is wrapped on the large pulley, makes wire rope direction of motion vertical with the large pulley sense of rotation through small sheave, and the other end and driving stem rear end are affixed.Compression spring 44 is enclosed within driving stem 45 outsides, and front end is connected with reductor fixed support 40, and the rear end is connected with execution pole socket 43.Driving stem passes the reductor fixed support and the bearing in reduction gears seat stretches out forward.The nonrotational part 36 in spherical universal joint is affixed with execution bar external part, and rotating part 35 stretches into formula with the throttle pedipulator and is connected.Consult Figure 13, the throttle pedipulator is by expansion link outer tube 88, interior pipe 92, and spherical universal joint 91, throttle clamping plate 90 constitute.Interior pipe is nonrotationally held with the spherical universal joint and is connected, and rotating part is threaded with the gas pedal folder.The servomotor of throttle driver rotates the pulling steel wire tow line, and stay cord is through the pulley conversion direction, and compression spring spurs driving stem and travels forward, and driving stem stretches out end and is connected with throttle pedipulator plug-in type, drives throttle pedipulator control gas pedal.Drive linear displacement transducer 46 through driving stem in the throttle pedipulator driver element, obtain the position of throttle pedipulator, control gas pedal accurately, realize that vehicle quickens the target call that speed stabilizing is gone.
Consult Fig. 7～10, the engage a gear action can be decomposed into the action of block selecting and two vertical direction of gearshift, needs to realize the degree of freedom motion of gear level sleeve 69 both directions.The gearshift mechanical arm is by block selecting servomotor 57 and gearshift servomotor 62, block selecting axle 73, and gearshift axle 58, big arm I 63, big arm II66, big arm III78, forearm I 67, forearm II71, L shaped regulating arm I 68, L shaped regulating arm II70, gear level sleeve 71 is formed.Block selecting servomotor 57 hugs formula with its reductor 75 and is connected, and speed reducer output shaft is connected with block selecting axle 73 through shaft coupling 74.Big arm III78 bottom is connected with block selecting axle 73 through bearing pin, and top is connected with elbow joint.Big arm I 63 is connected with elbow joint with the top of big arm II66, and its underpart connects and gearshift axle 58 through bearing pin 81.The end of forearm I 67 and forearm II71 is through connecting hole, and with the external part elbow joint axle II64 of elbow joint, elbow joint axle I 65 lockings connect respectively, and the other end is connected with two L type regulating arms respectively.Gear level sleeve 69 is connected with two L shaped regulating arms respectively through wrist connecting link I 76 and II77.Adjust the position adjustments hole of L type regulating arm I 68 and II70, can change the entire length of forearm, the front and back position of adjustment gear level sleeve.Regulate the adjustment hole of wrist connecting link I 76 and II77, can regulate the position, the left and right sides of gear level sleeve.
Consult Fig. 9～10, elbow joint connects big arm I 63, big arm II66 and big arm III78.Elbow joint is by elbow joint coupling shaft II64, elbow joint coupling shaft I 65, and elbow joint bracing strut I 79, elbow joint bracing strut II80, bearing pin 81 is formed.Elbow joint coupling shaft I 65 also can rotate around support with elbow joint bracing strut I79 and elbow joint bracing strut II80 socket; Elbow joint bracing strut I 79 is connected with the top of big arm I 63 and big arm II66 respectively through bearing pin 81, and elbow joint bracing strut II80 is connected through the top of bearing pin with big arm III78.Elbow joint coupling shaft II64 and elbow joint bracing strut I 79 sockets also can rotate around it, and elbow joint bracing strut I 79 is connected with big arm I 63 and big arm II66 respectively through bearing pin 81.
In operating process, regulate the length of bolt 4, the angle that can regulate removable bottom obtains the position of pedipulator driver element and corresponding pedal, and the direction in fit adjustment spherical universal joint changes the length of corresponding pedipulator, the installation of realization drive robot.
Drive robot is known and is taught journey after on vehicle, installing, and is the example explanation with the clutch pedal; Press down clutch pedal on earth, computing machine sends instruction and gives clutch mechanism leg control servomotor, and servomotor rotates; The wire rope that drive is wrapped on the speed reducer output shaft rotates, through small sheave switching-over pulling driving stem, compression spring; Driving stem is travelled forward, and tube section is when contacting outside driving stem stretches out end and clutch mechanism leg, and computing machine sends stop signal; Clutch mechanism leg driver element reclaims, and has obtained the stroke of clutch pedal.The acquisition of brake pedal stroke and gas pedal stroke by that analogy.
Claims (5)
1. an automobile test is with the gearshift mechanical arm; Comprise block selecting motor, shift motor, gearshift axle, big arm I, big arm II, big arm III, forearm I, forearm II, two L shaped regulating arms, wrist connecting link, elbow joint and gear level sleeves of driving by the motor-driven block selecting axle of block selecting, by shift motor; Described elbow joint comprises elbow joint axle I, elbow joint axle II, elbow joint bracing strut I; Elbow joint bracing strut II and bearing pin; Elbow joint axle I and elbow joint bracing strut I and elbow joint bracing strut II flexibly connect; Elbow joint bracing strut I is connected with the top of big arm I and big arm II respectively through bearing pin, and elbow joint bracing strut II is connected through the top of bearing pin with big arm III, and elbow joint axle II and elbow joint bracing strut I flexibly connect; The block selecting axle is connected through the bottom of bearing pin with big arm III, and big arm I is connected to the gearshift axle with big arm II bottom through bearing pin; Locking is connected the end of forearm I and forearm II with elbow joint axle I with elbow joint axle II respectively, and the other end links to each other with two L type regulating arms respectively, and the gear level sleeve is connected with two L shaped regulating arms respectively through the wrist connecting link.
2. automobile test according to claim 1 is characterized in that with the gearshift mechanical arm, and described automobile test comprises the angular displacement sensor of the movement position that is used to obtain sleeve with the gearshift mechanical arm, and its output is used for the control gearshift and moves.
3. automobile test according to claim 1 is characterized in that with the gearshift mechanical arm block selecting motor links to each other with its reductor, and speed reducer output shaft is connected with the block selecting axle through shaft coupling.
4. automobile test according to claim 1 is characterized in that with the gearshift mechanical arm shift motor links to each other with its reductor, and speed reducer output shaft is connected with the gearshift axle through shaft coupling.
5. automobile test according to claim 1 is characterized in that with the gearshift mechanical arm, and two L type regulating arms are provided with the position adjustments hole of the entire length that is used to change forearm; The wrist connecting link is provided with the adjustment hole that is used to regulate gear level sleeve position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110264354 CN102384850B (en) | 2011-09-07 | 2011-09-07 | Gear shift manipulator used in automobile test |
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| CN 201110264354 CN102384850B (en) | 2011-09-07 | 2011-09-07 | Gear shift manipulator used in automobile test |
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| CN102384850B CN102384850B (en) | 2013-12-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104792521A (en) * | 2014-12-19 | 2015-07-22 | 吉林大学 | Gear shifting manipulator of automobile synchronizer testbed and control device of gear shifting manipulator |
| CN111673741A (en) * | 2020-05-20 | 2020-09-18 | 杭州迈世歆智能机器人有限公司 | Automatic gear shifting manipulator for vehicle |
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| WO2011069669A2 (en) * | 2009-12-11 | 2011-06-16 | Maha-Aip Gmbh & Co. Kg | Actuating device for a robot driver |
| CN202267607U (en) * | 2011-09-07 | 2012-06-06 | 中国汽车技术研究中心 | Rocking-arm-type gearshift used for automobile test |
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| US4495801A (en) * | 1981-07-15 | 1985-01-29 | Mitsubishi Denki Kabushiki Kaisha | Manipulator for shifting speed changing gears in automotive vehicles |
| EP0860692A2 (en) * | 1997-02-25 | 1998-08-26 | FKI Engineering PLC | Robot for operating motor vehicle control |
| CN2743097Y (en) * | 2004-05-31 | 2005-11-30 | 东南大学 | Seven link lever bifreedom closed chain gear shift mechanical hand |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN104792521A (en) * | 2014-12-19 | 2015-07-22 | 吉林大学 | Gear shifting manipulator of automobile synchronizer testbed and control device of gear shifting manipulator |
| CN104792521B (en) * | 2014-12-19 | 2017-08-29 | 吉林大学 | A kind of automotive synchronizer test bench gear shifting manipulator and its control device |
| CN111673741A (en) * | 2020-05-20 | 2020-09-18 | 杭州迈世歆智能机器人有限公司 | Automatic gear shifting manipulator for vehicle |
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|---|---|
| CN102384850B (en) | 2013-12-25 |
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