Automobile shift manipulator and its control method based on spatial parallel four-bar linkage mechanism

Abstract

The invention provides an automobile gear shifting mechanical hand based on a space parallel connection four-connecting-rod mechanism. The automobile gear shifting mechanical hand comprises a fixing device, a clamping device, a driving device, a gear shifting device and a control system. The invention also provides an automobile gear shifting control method adopting the gear shifting mechanical hand. The method comprises the following steps that an engine rotating speed signal and a pedal position signal are received, in addition, the pedal position is judged, a clutch pedal is driven for regulating a clutch, an accelerator pedal is driven to change the opening degree of an accelerator, the gear shifting path plan is carried out, the gear shifting mechanical hand is controlled to pull a gear shifting rod to move to a required gear shifting position, then, the clutch pedal is driven to close the clutch, and the gear shifting is completed. The space parallel connection four-connecting-rod mechanism is adopted for forming a gear shifting device of the gear shifting mechanical hand, a plurality of space freedom degrees are realized, the efficient gear shifting operation can be realized on a gearbox, the structure of the whole gear shifting mechanical hand is simple, the installation is fast, the automobile gear shifting mechanical hand is installed in a cab and can adapt to different vehicle types and vehicles in different gear shifting forms, the normal driving space of a driver cannot be occupied, and the normal driving work of the driver cannot be influenced.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving devices and test vehicles, in particular to an automatic shifting manipulator of automobile gearbox and its control method, which is a mechanical device for replacing human drivers to automatically shift automobile gearboxes, and its realization is mainly Based on the spatial parallel four-bar linkage. Background technique [0002] The car shift manipulator can automatically shift the car's gear lever without modifying the car's gearbox when the car is driving automatically or testing the car. The control system of the shifting manipulator issues instructions according to the shifting needs, and the driving device drives the shifting device to perform a shifting action on the gear shift lever of the gearbox. [0003] There are many forms of car gear shifting. The automatic shift manipulator needs to complete different types of shift lever control, and needs to have very good ...

AI Technical Summary

Problems solved by technology

The shift manipulator part has only two degrees of freedom, forward tilt and overturn, and cannot complete the vertical movement of the shift lever, which will damage the shift lever, and the entire shift manipulator is fixed on the driver's seat, occupying the driver's seat. Seat space, unable to drive manually

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