CN209972177U - Automatic gear shifting control mechanism of automatic driving automobile with linearly arranged gears - Google Patents

Abstract

The utility model provides a keep off position linear arrangement formula automatic driving car automatic gear shifting operating mechanism, the circular arc motion orbit of keeping off the handle is decomposed into the linear motion along keeping off the handle direction and along the horizontal linear motion of front and back gear shifting direction, linear module assembly turns into the horizontal migration of nut through the lead screw with servo motor's rotation, convert the motor torque into the horizontal effort of bolt type gyro wheel bearing to keeping off handle supporting shoe right side spout simultaneously, bolt type gyro wheel bearing is along with nut along the horizontal direction linear motion while, keep off handle supporting shoe right side spout for bolt type gyro wheel bearing reciprocating motion, thereby accomplish the action of shifting; the gear shifting mechanism is tightly attached to the gear handle, and can highly simulate gear shifting action; the use of the bolt type roller needle bearing not only improves the bearing capacity of the whole mechanism, but also reduces the friction loss; the height adjustment bracket can be adjusted according to the cab space so as to adapt to most cabs without refitting the cabs.

Description

Automatic gear shifting control mechanism of automatic driving automobile with linearly arranged gears

Technical Field

The utility model belongs to the technical field of the experimental autopilot of car, a keep off position sharp range formula autopilot car automatic gear shifting operating mechanism is related to.

Background

For an automatic driving automobile, the gear shifting control mechanism can replace a driver to complete gear shifting tasks.

Generally, for a manual transmission automobile, a gear shifting handle moves along a locus similar to a Chinese character 'wang' shape in a gear groove in the whole gear shifting process. The gear shifting process is decoupled into two actions of gear selection and gear engagement and is respectively driven by two motors, so that the control algorithm of the gear lever can be simplified, and the 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 the publication number of CN105068595A provides a tractor driving robot based on force/position hybrid control, gear selecting action is driven by a double-shaft trapezoidal sliding table, gear engaging action is driven by an electric push rod, the whole mechanism occupies a large space, and in order to ensure effective gear shifting, the height of the tail end of the electric push rod needs to be adjusted, so that the tractor driving robot is poor in universality and complex to install. The invention patent publication CN102435442B discloses an automatic driving robot for vehicle road test, in which the shift control mechanism is driven by a ball screw, but the actuating mechanism is fixedly connected with a shift lever, and the actual movement of the shift lever during shifting is not considered. A real gear shift operation cannot be well simulated.

For an automatic transmission automobile with linearly arranged gears, when the gears are changed, the gear lever always moves in the longitudinal plane of the automobile. Therefore, it is important to design an automatic shift control mechanism specifically mounted on an in-line shift type automatic driving vehicle.

Disclosure of Invention

The utility model provides a keep off position sharp range formula autopilot car automatic gear shifting operating mechanism, this operating mechanism that shifts is exclusively used in the autopilot car that keeps off position sharp range. The automatic transmission gear shifting device is compact in overall structure, the fitting degree of the gear shifting operation process and the actual motion track of the gear shift handle is high, the gear shift handle is accurately positioned 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 utility model discloses the concrete technical scheme who adopts does:

the automatic gear-shifting control mechanism of the automatic driving automobile with linearly arranged gears is placed in a secondary cab in the automobile and is characterized by comprising a height adjusting support capable of adjusting the height along the vertical direction, 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 support by taking the driving direction of the automobile as the front direction, the linear module assembly comprises a rectangular plate-shaped linear module assembly base arranged along the front-back direction, a screw rod nut mechanism driven by a servo motor is arranged on the linear module assembly base, a rectangular plate-shaped slide way is arranged below a screw rod in the screw rod nut mechanism and is arranged on the upper surface of the linear module assembly base, a nut in the screw rod nut mechanism is a rectangular block and is matched with the slide way through a nut slide way arranged on the lower surface, and the upper surface of the nut is fixedly connected with a horizontal plate of an L-shaped mounting plate, the center of a vertical plate of the L-shaped mounting plate is provided with a through hole, a bolt of a bolt type roller needle roller bearing positioned on the left side of the vertical plate of the L-shaped mounting plate is sleeved with a sleeve, the end part of a bolt with an external thread at the front end of the bolt type roller needle roller bearing penetrates through the through hole in the center of the vertical plate of the L-shaped mounting plate and then is fixedly connected with a hexagon nut on the right side of the vertical plate of the L-shaped mounting plate in a threaded manner, a rectangular baffle is arranged on the right side end face of the supporting block from top to bottom and is provided with a baffle handle supporting block sliding groove, the baffle handle supporting block sliding groove is matched with a bearing outer ring of the bolt type roller needle roller bearing to enable the bolt type roller needle roller bearing to reciprocate and move relatively along the baffle handle supporting block right sliding groove, a baffle is arranged on the upper portion of a baffle handle of a vehicle and fixes the baffle handle on the left side end face of the baffle handle And a servo motor driver of the servo motor is connected with the upper computer through the controller.

The further technical scheme comprises the following steps:

two ends of the screw rod are respectively supported at 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 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 in 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 end face of the right side 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, a swing rod through groove in the vertical direction is formed in the middle part of the swing rod, swing rod side walls on the swing rods, which are positioned at two sides of the swing rod through groove, in the horizontal direction are respectively formed in the swing rod side walls, two corners at the rear part of the height adjusting bracket base are hinged with the lower ends of two rectangular rod-shaped support rods, a support rod through groove in the horizontal direction is formed in the middle part of the support rod, after each support rod passes through the corresponding swing rod through groove of the swing rod, two ends of a double-head screw rod respectively pass through the corresponding swing rod side wall through groove of the swing rod and the corresponding support rod through groove and are in threaded connection with two fastening nuts positioned, the vertical plates of the two support panels are symmetrically provided with the through grooves of the vertical plates of the support panels in the horizontal direction, the connecting bolts at the upper ends of the two swing rods penetrate through the through grooves of the corresponding vertical plates of the support panels and then are in threaded connection with nuts, and the upper ends of the two support rods are hinged with the front portions of the corresponding vertical plates of the support panels.

The left and right sides symmetry of support panel is provided with the support panel logical groove of vertical direction, support panel logical groove extends to support panel rear portion from support panel front portion, two straight line module assembly support frame's both ends all have two straight line module assembly support frame connecting bolt to pass behind the corresponding support panel logical groove with nut threaded connection, make two straight line module assembly support frames can be on support panel along support panel logical groove back-and-forth movement and fixed, the middle part of straight line module assembly support frame is upwards protruding for the both ends of straight line module assembly support frame, the protruding position that makes progress of straight line module assembly support frame is provided with straight line module assembly support frame logical groove, the scale grating connecting bolt at the scale grating both ends of grating chi passes behind the corresponding straight line module assembly support frame logical groove and with a nut threaded connection, make the grating chi remove about and fix between two straight line module assembly support frames.

4 bolts penetrate through the through grooves of the corresponding linear module assembly supporting frames and then are in threaded connection with nuts embedded into the lower surface of the linear module assembly base, so that 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 beneficial effects of the utility model are that:

the utility model provides a pair of keep off position sharp range formula autopilot car automatic gear shifting operating mechanism will keep off and decompose two linear motion to the circular arc motion orbit in the vertical plane of car, be the horizontal linear motion of the direction of shifting around along by servo motor driven lead screw nut mechanism driven respectively to and keep off the supporting shoe right side spout for the straight line motion of keeping off the direction along what bolt type gyro wheel bearing reciprocating motion realized at the in-process of shifting. The fitting degree of the gear shifting operation process and the actual motion track of the gear shift handle is high, and the gear shift rod can be stably and effectively pushed to complete the gear shifting action.

The retaining handle fixes the lower clamping block and the upper clamping block on the left end face of the retaining handle supporting block through the retaining handle, and the shapes of the lower clamping block and the upper clamping block of the retaining handle are attached to the retaining handle as much as possible, so that the retaining handle and the retaining handle supporting block can be tightly connected in the movement 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 on the right side of the retaining bar supporting block moves relative to the retaining bar supporting block, so that the movement is smoother; compared with the common pulley with the same size, the bearing capacity of the pulley 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 shift lever is fine, and the position of the gear shift lever needs to be accurately positioned and tracked. Therefore, the utility model provides a keep off position detection device. The detection device mainly comprises a grating ruler and an L-shaped connecting plate which are suitable for linear displacement measurement, and a reading head of the grating ruler is fixedly connected with a nut through the L-shaped connecting plate and moves synchronously. The grating ruler collects the actual displacement of the nut in real time and feeds the actual displacement back to the controller, so that the closed-loop accurate control of the position of the gear handle is realized. Meanwhile, the grating ruler has strong anti-interference capability, the measurement precision of the grating ruler can be kept for a long time, and the working characteristic that the gear shifting manipulator shifts gears frequently 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 shift handle is further adjusted under the condition that the base of the height adjusting support is fixed; two sharp module assembly support frames can lead to the groove back-and-forth movement along support panel upper surface to adjust sharp module assembly for keeping off the front and back initial position of handle, thereby improve greatly the utility model discloses an suitability.

The stroke of shifting of different motorcycle types and the power of shifting are inconsistent, the utility model discloses can shift the stroke and shift the bolt type gyro wheel bearing of power selection for use the lead screw of suitable length and adapted contact strength according to the actual measurement, the commonality is very strong.

In addition, the height adjusting support 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 will be further described with reference to the accompanying drawings:

fig. 1 is an axonometric view of an automatic gear-shifting control mechanism of an automatic driving automobile with linearly arranged gears according to the utility model;

fig. 2 is a front view of the automatic shift control mechanism of the automatic driving vehicle with shift positions arranged in a straight line according to the present invention;

fig. 3 is a top view of the automatic shift control mechanism of the automatic driving car with shift positions arranged in a straight line according to the present invention;

fig. 4 is a left side view of the automatic shift control mechanism of the shift position linear arrangement type automatic driving vehicle according to the present invention;

FIG. 5 is an isometric view of a lower clamping block of a shift knob in the automatic shift control mechanism of an automatic driven vehicle with linearly arranged shift positions according to the present invention;

FIG. 6 is a diagram of an assembly axis of a bolt-type roller needle roller bearing and a sleeve in the automatic shift control mechanism of an automatic driving automobile with linearly arranged gears according to the present invention;

fig. 7 is a kinematic diagram of an automatic shift control mechanism of an automatic driving vehicle with shift positions arranged in a straight line according to the present invention;

fig. 8 is a front view of a support swing link in the automatic shift operating mechanism of the shift linear arrangement type automatic driving vehicle according to the present invention;

fig. 9 is a top view of a support swing link in the automatic shift operating mechanism of the shift linear arrangement type automatic driving vehicle according to the present invention;

fig. 10 is an isometric view of a grating ruler in the automatic gear shifting control mechanism of the automatic driving vehicle with linear gear arrangement according to the present invention;

fig. 11 is a schematic diagram of the closed-loop control of the automatic gear-shifting control mechanism of the automatic driving car with linear gear arrangement according to the present invention.

Fig. 12 is a schematic diagram of the automatic gearshift operating mechanism of the automatic driving vehicle with linear gear arrangement according to the present invention, which is installed in the passenger compartment of the vehicle and assembled with the handle of the vehicle.

In the figure: 1. the automobile seat comprises a servo motor, a 2-plum coupling, a 3-angular contact ball bearing, a 4-lead screw, a 5-nut, a 6-L-shaped mounting plate, a 7-hexagon nut, a 8-catch support block, a 9-catch, a 10-catch upper clamping block, a 11-catch 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 adjusting support base, a 17-support rod, a 18-swing rod, a 19-support panel, a 20-fastening nut, a 21-double-head screw, a 22-sleeve, a 23-bolt type roller needle bearing, a 24-grating ruler, and a 25-driver seat.

Detailed Description

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

as shown in fig. 1 and fig. 2, the linear module assembly of the power output and intermediate transmission device of the present invention is composed of a linear module assembly base 14, a servo motor 1, a double-offset ring coupler 2, an angular contact ball bearing 3, a lead screw 4, a nut 5, and a slide 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. The utility model discloses select feed screw nut mechanism as middle transmission, the both ends of lead screw 4 are respectively supported at sharp module assembly base 14's both ends through a bearing frame that has angular contact ball bearing 3, and servo motor 1's output shaft passes through plum blossom shaft coupling 2 and lead screw 4's rear end fixed connection, accomplishes the power transmission. A rectangular plate-shaped slide way 12 is arranged below a screw rod 4 in the screw rod nut mechanism and fixed on the upper surface of a linear module assembly base 14, a nut 5 in the screw rod nut mechanism is a rectangular block, and the nut 5 is matched with the slide way 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 way 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 a bolt end part of the bolt-type roller needle bearing 23 with an external thread at the front end of the bolt passes through the through hole in the center of the vertical plate of the L-shaped mounting plate 6 and then is in threaded connection and fixed with a hexagon nut 7 positioned on the right side of the vertical plate of the L-shaped mounting plate 6, so that the bolt-type roller needle bearing 23 can synchronously move along. The sleeve 22 can avoid the 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 supporting block 8 in the movement process. The three structures fixedly connected with the stop handle 9 are respectively a stop handle lower clamping block 11, a stop handle upper clamping block 10 and a stop handle supporting block 8. The right side end face of the rectangular blocking handle supporting block 8 is provided with a blocking handle supporting block sliding groove from top to bottom, and the blocking handle supporting block sliding groove 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 relative to the supporting block right side sliding groove along the blocking handle. The upper clamping block 10 and the lower clamping block 11 are respectively embedded in the upper part and the lower part of the stop handle 9 of the vehicle, and the stop handle 9 is fixed on the left end face of the stop handle supporting block 8 through bolts. In order to ensure that the stop lever 9 and the stop lever support block 8 move synchronously, as shown in fig. 5, the inner side wall surface of the stop lever lower clamping block 11 is designed with a draft angle which is completely attached to the stop lever 9 so as to avoid the relative position shift between the stop lever 9 and the stop lever support block 8.

Referring to fig. 1, 2 and 4, the mechanism comprises a height adjusting bracket which can be adjusted in height along the vertical direction. The height adjusting bracket comprises a supporting rod 17, a swing rod 18, a bracket panel 19, a height adjusting bracket base 16, a fastening nut 20 and a double-thread screw 21. As shown in fig. 12, the height adjusting bracket base 16 is fixed in the passenger compartment in the vehicle and defines the traveling direction of the vehicle as the front, 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 levers 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 rods 17. A swing rod through groove in the vertical direction is formed in the middle of the swing rod 18, the width of the swing rod through groove is just the thickness of the supporting rod 17, and swing rod side wall through grooves in the horizontal direction are formed in swing rod side walls, located on two sides of the swing rod through groove, of the swing rod 18. 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 swing rod side wall through groove is the same as that of the supporting rod through groove. The left side and the right side of a rectangular plate-shaped support panel 19 are symmetrically provided with support panel vertical plates, and the two support panel vertical plates are provided with support panel vertical plate through grooves in the horizontal direction. Each support rod 17 passes through the corresponding swing rod through groove of the swing rod 18 and then is hinged with two corners at the front part of the vertical plate of the bracket panel. After the vertical distance between the height adjusting 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 respectively penetrate through the through grooves of the corresponding bracket panel vertical plates through a bolt and then are fixedly connected with a nut through threads. Two ends of a double-threaded screw 21 with the outer diameter tangent to the width of the through groove of the support rod respectively penetrate through the through groove of the side wall of the swing rod corresponding to the swing rod 18 and the through groove of the support rod corresponding to the support rod 17, and are in threaded connection with two fastening nuts 20 positioned at two sides of the swing rod 18, and the fastening nuts 20 are screwed from two side wall surfaces of the swing rod 18 respectively. Therefore, the supporting rod 17, the swing rod 18 and the double-threaded screw 21 jointly form a scissor-fork type structure, the double-threaded screw 21 can further limit the relative movement between the supporting rod 17 and the swing rod 18, the supporting capacity of the height adjusting support is enhanced, and the supporting structure is stable and reliable.

The left side and the right side of the bracket panel 19 are symmetrically provided with bracket panel through grooves in the vertical direction, 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 on the support panel 19 along the support panel through groove, on one hand, the relative distance of 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, two straight line module assembly support frames 15 can keep the fixed interval and further move back and forth along the support panel through groove to adjust the initial position of the straight line module assembly relative to the front and back direction of the stop handle 9, and after the position is adjusted, two straight line module assembly support frame connecting bolts are arranged at the two ends of the two straight line module assembly support frames 15 and penetrate through the corresponding support panel through grooves to be fixedly connected with the nuts. The middle part of the straight line module assembly support frame 15 is upwards convex relative to the two ends of the straight line module assembly support frame 15, and the upwards convex part of the straight line module assembly support frame 15 is provided with a straight line module assembly support frame through groove. Linear module assembly base 14 can be controlled along the logical groove of sharp module assembly support frame and remove, adjusts this mechanism and keeps off the horizontal relative position of 9, improves the utility model discloses an adaptability. And 4 bolts penetrate through the through grooves of the corresponding linear module assembly support frame and then are fixedly connected with the threads of the nuts embedded into the lower surface of the linear module assembly base 14.

Referring to fig. 1, 3 and 10, a grating ruler 24 which is positioned at 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 support, 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 side end face of the nut 5 in the feed screw nut mechanism. In the gear shifting process, the grating ruler reading head and the nut 5 move synchronously, and the grating ruler 24 acquires the actual position of the nut 5 in real time and sends a feedback signal to realize the accurate positioning and tracking of the position of the gear handle 9. Grating scale 24 has very strong interference killing feature, and its measurement accuracy can keep very long, can satisfy the operating characteristic that the manipulator of shifting gears frequently shifts. The linear scale 24 can move left and right along with the linear module assembly between the through slots of the linear module assembly support frames of the two linear module assembly support frames 15. After the linear module assembly determines the transverse position, the transverse position of the grating ruler 24 is determined, and two ends of the scale grating of the grating ruler 24 penetrate through the through grooves of the support frame of the corresponding linear module assembly through a scale grating connecting bolt and then are fixedly connected with a nut through threads.

The utility model provides a pair of keep off position sharp range formula automatic driving car operating mechanism operating principle as follows:

(1) the motion principle is as follows:

the shift lever 9 of the automatic transmission automobile always moves in a vehicle longitudinal plane, as shown in fig. 7, the moving plane of the shift lever 9 is extracted, the moving track of the shift lever 9 during the gear shifting process is approximately simplified into a circular arc motion around a fixed point O, and supposing that OA is the initial position of the shift lever 9 in the figure and the extreme positions of the shift lever 9 are OA 'and OA', respectively. In order to make this mechanism can shift the motion trail that the in-process high fit kept off the handle, the utility model discloses the in-process that will shift is decomposed into two linear motion, is respectively for keeping off the linear motion of 9 and the linear motion of the direction of shifting around following along keeping off. The linear movement in the forward-backward shifting direction can be simplified with a line l1, corresponding to the horizontal linear movement of the nut 5. The line l1 intersects the extensions of the two extreme positions OA ', OA "of the bar 9 at B', B", respectively, and the movement along the bar 9 from a 'to B' is effected by the bolt-type roller needle bearings 23 in cooperation with the bar support blocks 8. For example, the bar 9 is moved from OA to OA ", the bolt-type roller needle bearing 23 is moved from point a to point B" along the slide 12 by the servo motor 1, and at the same time, the bolt-type roller needle bearing 23 is moved from the initial position a "with respect to the bar 9 (in the direction of the bar 9, a" and a "occupy the same position as a for the bar 9) to point B" along the bar right-hand runner.

(2) The control principle is as follows:

the utility model discloses a linear movement of nut 5 drives and keeps off 9 and realize keeping off the switching of position, keeps off the position and can switch smoothly and depend on keeping off the accurate degree of 9 positions. Therefore, after the mechanism is installed, the positions of all gears are calibrated according to the distance between the nut 5 and the initial position of the slide way 12 when the gear knob 9 is at different gear positions, and a foundation is laid for subsequent control. In order to ensure that the shift lever 9 is correctly positioned in the 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 send a feedback signal. With reference to fig. 11, the upper computer sends an input signal indicating an expected position to the controller, 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 shift knob 9 to move and drives the grating scale reading head of the grating scale 24 to move together. After the action is finished, the grating ruler 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 to continuously control the servo motor driver to drive the servo motor 1, and the accurate closed-loop control of the position of the shift knob 9 is formed in the whole process.

The utility model provides a pair of keep off position sharp range formula automatic driving car automatic gear shifting operating mechanism's motion process does:

the output torque of the servo motor 1 drives the screw rod 4 to do rotary motion through the plum coupling 2, the nut 5 linearly moves along the slide rail 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 roller bearing 23 in the center of the vertical plate are driven to horizontally and linearly move together. Meanwhile, the outer ring of the bolt-type roller needle roller bearing 23 reciprocates relative to the retaining bar support block sliding groove on the right side of the retaining bar support block 8, the horizontal acting force on the inner wall of the retaining bar support block sliding groove on the right side of the retaining bar support block is continuously output, and the retaining bar support block 8 drives the retaining bar 9 fixedly connected with the retaining bar support block to complete the gear shifting action.

When the nut 5 moves linearly, the L-shaped connecting plate 13 and a reading head of a grating ruler 24 fixedly connected with the L-shaped connecting plate synchronously reciprocate linearly, position information of the nut 5 is collected and recorded constantly, and the position information is sent to a controller to be used as a feedback signal to realize accurate closed-loop control of the position of the gear lever 9.

Claims (6)

1. An automatic gear shifting control mechanism of an automatic driving automobile in a gear linear arrangement type is placed in a secondary cab in the automobile and is characterized by comprising a height adjusting support capable of adjusting height along the vertical direction, a linear module assembly capable of adjusting positions and fixing along the front-back direction and the left-right direction is arranged on the height adjusting support by taking the driving direction of the automobile as the front direction, the linear module assembly comprises a rectangular plate-shaped linear module assembly base (14) arranged along the front-back direction, a screw rod and 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 and nut mechanism and is arranged on the upper surface of the linear module assembly base (14), a nut (5) in the screw rod and nut mechanism is a rectangular block, and 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 arranged at 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 roller bearing (23) positioned on the left side of the vertical plate of the L-shaped mounting plate (6), the end part of the bolt with an external thread at the front end of the bolt type roller needle roller bearing (23) passes through the through hole at the center of the vertical plate of the L-shaped mounting plate (6) and then is fixedly connected with a hexagon nut (7) positioned on the right side of the vertical plate of the L-shaped mounting plate (6) in a threaded manner, a rectangular baffle handle supporting block chute is arranged on the right side end surface of the supporting block (8) from top to bottom, the baffle supporting block chute is matched with a bearing outer ring of the bolt type roller bearing (23) to enable the bolt type roller needle roller, a stopper upper clamping block (10) is nested on the upper portion of a stopper handle (9) of a vehicle, the stopper handle (9) is fixed on the left side end face of the stopper handle supporting block (8), a stopper handle lower clamping block (11) is nested on the lower portion of the stopper handle (9) below the stopper handle upper clamping block (10), the stopper handle (9) is fixed on the left side end face of the stopper handle supporting block (8), and a servo motor driver of a servo motor (1) is connected with an upper computer through a controller.

2. The automatic gear shifting control mechanism of the automatic driving vehicle with the linearly arranged gears according to claim 1, wherein two ends of the screw rod (4) are respectively supported at 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 quincunx coupling (2).

3. The automatic gear shifting control mechanism of the shift linear arrangement type automatic driving automobile according to claim 1, wherein a grating ruler (24) which is positioned at 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 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 and nut mechanism, and the grating ruler reading head is connected with an upper computer through a controller.

4. The shift position linear arrangement type automatic gear shifting control mechanism of an automatic driving automobile according to claim 1, claim 2 or claim 3, wherein the height adjusting bracket comprises a rectangular plate-shaped height adjusting bracket base (16), two corners of the front part of the height adjusting bracket base (16) are hinged with the lower ends of two rectangular rod-shaped swing rods (18), a swing rod through groove in the vertical direction is formed in the middle of each swing rod (18), swing rod side walls on two sides of the swing rod through groove on each swing rod (18) are respectively provided with a swing rod side wall through groove in the horizontal direction, two corners of the rear part of the height adjusting bracket base (16) are hinged with the lower ends of two rectangular rod-shaped support rods (17), a support rod through groove in the horizontal direction is formed in the middle of each support rod (17), after each support rod (17) passes through the corresponding swing rod through groove of each swing rod (18), two ends of a double-head screw (21) respectively pass through the corresponding swing rod side wall through groove of each swing rod The supporting rod of bracing piece (17) that should lead to behind the groove with be located two fastening nut (20) threaded connection of pendulum rod (18) both sides, the symmetry of a rectangular plate's support panel (19) left and right sides is provided with the vertical board of support panel, equal symmetry is provided with the vertical board of support panel logical groove of horizontal direction on the vertical board of two support panels, the connecting bolt of two pendulum rods (18) upper ends passes behind the vertical board logical groove of support panel that corresponds with a nut threaded connection, the upper end of two bracing pieces (17) is articulated with the front portion of the vertical board of support panel that corresponds.

5. The automatic gearshift operating mechanism for automatic driving vehicle with linearly arranged gears according to claim 4, wherein the left and right sides of the rack panel (19) are symmetrically provided with vertical rack panel through slots, the rack panel through slots extend from the front of the rack panel (19) to the rear of the rack panel (19), two ends of each of the two linear module assembly support frames (15) are provided with two linear module assembly support frame connecting bolts which pass through the corresponding rack panel through slots and are in threaded connection with nuts, so that the two linear module assembly support frames (15) can move back and forth along the rack panel through slots on the rack panel (19) and are fixed, the middle parts of the linear module assembly support frames (15) are upwards protruded relative to the two ends of the linear module assembly support frames (15), and the upwards protruded parts of the linear module assembly support frames (15) are provided with linear module assembly support frame through slots, and the scale grating connecting bolts at two ends of the scale grating of the grating ruler (24) penetrate through the through grooves of the corresponding linear module assembly supporting frames and then are in threaded connection with a nut, so that the grating ruler (24) can move left and right between the two linear module assembly supporting frames (15) and is fixed.

6. The automatic gearshift operating mechanism for automatic driving vehicle with shift linear arrangement according to claim 5, wherein 4 bolts pass through the through slots of the corresponding linear module assembly supporting frames and are in threaded connection with nuts embedded in the lower surface of the linear module assembly base (14), so that the linear module assembly base (14) can move left and right and is fixed between the two linear module assembly supporting frames (15).

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