Electronic shifter shift calibration device and operation method thereof

Abstract

An electronic shifter shift calibration device and an operating method thereof belong to the technical field of mechanical equipment, wherein the shift calibration device includes a mechanical arm, a force sensor, a shift linkage mechanism, a quick-change mechanism, a horizontal platform, a magnetic sensor and a control cabinet. The shift linkage mechanism and the quick-change mechanism in the present invention can be customized according to different product structures and appearances, and can be adapted to products of various shapes, thereby avoiding the problem of repeated design of the entire equipment as a whole. The present invention can accurately detect the numerical information of the operating force value, the shift angle, and the sensing angle and draw a coordinate diagram. According to the detected numerical values ​​and the coordinate diagram, appropriate numerical values ​​are selected to calibrate the gear position. The calibration has high accuracy and the detection method is convenient and concise, and no special training is required. The present invention has the advantages of simple design, flexible mechanical structure design, and short preliminary scheme design verification cycle, and can perform multi-product verification, thereby saving costs.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical equipment, and in particular relates to an electronic shifter shift calibration device and an operating method thereof. Background Art

[0002] In the process of developing an electronic shifter, it is necessary to know the displacement angle of each gear in space, how much the magnetic field strength between the two gears will change, and whether this change can meet the requirements of the gear recognition range. This requires actual measurement and calibration of the product's displacement angle, magnetic field strength, force value requirements and other parameters during the development stage, and improve product solutions based on the measured results, optimize software algorithms, and improve recognition accuracy. Current testing equipment is based on measuring the angle of the gear to detect whether the developed product meets the mechanical design requirements. This test method is a purely physical test, which is difficult to organically combine with the electronic shifter and provide reasonable feedback on the parameters of the electronic signal.

[0003] The prior art has the following deficiencies:

[0004] 1. Due to the individual differences of the gear shifters 8 under test during the development process, it is difficult to comprehensively summarize the actual specific range. If the design tolerance is too large and the threshold between the two gears is too small, there will be a risk of misjudgment of the gear. If the tolerance design is too small, the design accuracy often fails to meet the index requirements. To correctly evaluate the tolerance range, it is necessary to conduct a comprehensive evaluation through multiple mechanical and electronic parameters.

[0005] Second, for magnetic field signals, it is difficult to summarize the complete curve of magnetic field changes in the entire range of gear shifting operations. The conventional approach is to detect the magnetic field strength at the gear position. This method cannot obtain the changing trend of the magnetic field strength between gears, which is not conducive to comprehensive data analysis and improvement of design solutions.

[0006] 3. It is difficult to summarize the specific rules of individual phenomena that occur during the design process. Since the scheme verification is carried out in the development stage, it is inevitable that there will be discontinuity in the data, or a phenomenon that is completely contrary to theory and practice. The existing equipment cannot analyze why such a situation occurs and what causes such a result through the current phenomenon, which often leaves a greater hidden danger to the final product.

[0007] Fourth, due to the gap between simulation and actual situation, when there is a large gap between the actual situation and the simulation results, it is difficult to identify the cause of the problem. Is it a simulation problem or a design problem?

[0008] 5. The actual force value cannot be actually connected with the position, and it is impossible to directly determine whether the force value reaches the required gear position, or whether the force value meets the requirements after reaching the gear position. In the design, the force value is measured using another instrument or device. In this way, during the test process, the position and force value cannot be effectively combined. When the force value reaches the requirement, whether the gear reaches the required position, or when the gear reaches the position, what is the force value, there is no way to uniformly measure.

[0009] 6. Currently, electronic shifters come in various shapes, including lever type, knob type, paddle type, etc. Different shapes cannot be measured with the same tool, which creates cost and technical pressure for companies or test developers. There is an urgent need for a universal device to calibrate and verify electronic shifters of different shapes. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide an electronic shifter shift calibration device and an operating method thereof to solve the technical problem that various electronic shifters in the prior art have different requirements for the gear position recognition area and cannot perform comprehensive and continuous measurement of the product's shift angle, magnetic field strength, and force value.

[0011] An electronic shifter shift calibration device includes a mechanical arm, a force sensor, a shift linkage mechanism, a quick-change mechanism, a horizontal platform and a control cabinet.

[0012] The lower part of the mechanical arm is fixedly installed on one side of the upper part of the horizontal platform, the end of the last knuckle of the mechanical arm is fixedly connected to the upper part of the shift linkage mechanism, and a force sensor is fixedly installed on the third knuckle of the mechanical arm; the lower part of the shift linkage mechanism is detachably connected to the shift lever of the tested shifter; the upper part of the quick-change mechanism is fixedly connected to the tested shifter through a clamping part, and the lower part of the quick-change mechanism is fixedly connected to the upper part of the horizontal platform; the control cabinet is electrically connected to the mechanical arm and the force sensor through a CAN bus.

[0013] The robotic arm is a three-axis robotic arm, the linear displacement accuracy of the robotic arm is less than 0.01 mm, and the angular accuracy of the robotic arm rotating around the fulcrum is less than 0.01°.

[0014] The shift linkage mechanism includes a shift connecting rod and a U-shaped structural connecting rod; a socket is provided at the lower portion of the shift connecting rod, the shift connecting rod is plugged into the shift rod of the tested shifter through the socket, and a U-shaped connecting groove is provided at the upper portion of the shift connecting rod; the upper portion of the U-shaped structural connecting rod is fixedly connected to the end of the finger joint of the last section of the mechanical arm, and the lower cross bar of the U-shaped structural connecting rod is plugged into the U-shaped connecting groove of the shift connecting rod.

[0015] The quick-change mechanism includes a bracket and a quick clamp for a sample to be tested; four positioning pins are arranged at the lower part of the bracket, the bracket is fixedly connected to the horizontal platform through the positioning pins, and a conforming groove is arranged at the upper part of the bracket for placing the gear shifter to be tested; quick clamps for the sample to be tested are arranged on both sides of the conforming groove for fixing the gear shifter to be tested.

[0016] The control cabinet is provided with a display screen.

[0017] The control cabinet has a built-in computer, and is provided with a main switch, a protection switch, a contact switch and a power connector.

[0018] An operating method of an electronic shifter shift calibration device, using the electronic shifter shift calibration device, comprises the following steps, and the following steps are performed in sequence:

[0019] Step 1: Fix the tested shifter on the upper part of the horizontal platform through the clamping part of the quick-change mechanism, plug the shift lever of the tested shifter into the shift linkage mechanism, and turn on the main switch, protection switch, contact switch and computer power supply of the control cabinet in sequence;

[0020] Step 2: In the computer's gear shift calibration operation interface, select the measurement range and path, set the protection force value, click the operation button of the selected gear, and the running motor of the robotic arm drives the robotic arm to run according to the signal of the control cabinet;

[0021] Step 3: The robot arm runs and sends the displacement angle during operation to the control cabinet via the CAN bus. The force sensor measures the force value of the gear shifter under test in real time. The magnetic sensor in the tested sample measures the magnetic field strength of the gear shifter under test in real time. The magnetic field strength and force value information are sent to the control cabinet via the CAN bus.

[0022] Step 4: The control cabinet saves the received magnetic field strength, force value information and displacement angle and outputs the corresponding curve relationship diagram to the operation interface after curve fitting;

[0023] Step 5: After the measurement is completed, the robot arm returns to the test origin and disassembles the shifter under test or waits for the next measurement.

[0024] Step 6: Calibrate the gear position according to the operating force value obtained in the control cabinet, the displacement angle of the robot arm, and the magnetic flux of the magnetic sensor of the gear shifter under test.

[0025] Through the above design scheme, the present invention can bring the following beneficial effects:

[0026] The shift linkage and quick-change mechanism in the present invention can be customized according to different product structures and shapes, and can be adapted to products of various shapes, thus avoiding the problem of repeated design of the entire device. The quick-change mechanism can conveniently and quickly disassemble and locate the shifter under test, and can be used to quickly measure the high-temperature or low-temperature shifter under test while keeping the temperature unchanged in scenarios with requirements for temperature and humidity.

[0027] The present invention can accurately detect numerical information of operating force value, shift angle and sensing angle and draw a coordinate diagram. According to the detected numerical values ​​and the coordinate diagram, appropriate numerical values ​​are selected to calibrate the gear position. The calibration accuracy is high and the detection method is convenient and concise, and no special training is required.

[0028] The present invention has the advantages of simple design, flexible mechanical structure design, short initial scheme design verification cycle, etc., and can perform multi-product verification, thereby saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0030] Figure 1 The present invention is a schematic structural diagram of an electronic shifter shift calibration device in an electronic shifter shift calibration device and an operating method thereof.

[0031] Figure 2 The present invention is a schematic structural diagram of a shift linkage mechanism in an electronic shifter shift calibration device and an operating method thereof.

[0032] Figure 3 The present invention is a schematic diagram of the side structure of a shift connecting lever in an electronic shifter shift calibration device and an operating method thereof.

[0033] Figure 4 The structure of the quick-change mechanism in the electronic shifter shift calibration device and the operation method thereof of the present invention is shown in FIG. Figure 1 .

[0034] Figure 5 The structure of the quick-change mechanism in the electronic shifter shift calibration device and the operation method thereof of the present invention is shown in FIG. Figure 2 .

[0035] In the figure, 1-mechanical arm, 2-force sensor, 3-shift linkage mechanism, 4-quick-change mechanism, 5-horizontal platform, 6-control cabinet, 7-tested shifter, 8-shift connecting lever, 9-U-shaped structural linkage, 10-bracket, 11-tested sample quick clamp. DETAILED DESCRIPTION

[0036] As shown in the figure, an electronic shifter shift calibration device includes a mechanical arm 1, a force sensor 2, a shift linkage mechanism 3, a quick-change mechanism 4, a horizontal platform 5 and a control cabinet 6.

[0037] The lower part of the robot arm 1 is fixedly mounted on one side of the upper part of the horizontal platform 5, the end of the last knuckle of the robot arm 1 is fixedly connected to the shift linkage mechanism 3, and the force sensor 2 is fixedly mounted on the third knuckle of the robot arm 1, which can record the current shift force in real time according to the trajectory of the robot arm movement; the upper part of the quick-change mechanism 4 is fixedly connected to the tested shifter 7 through the clamping part, and the lower part of the quick-change mechanism 4 is fixedly connected to the upper part of the horizontal platform 5; the control cabinet 6 is electrically connected to the robot arm 1 and the force sensor 2 through the CAN bus, and the control cabinet 6 is used to control the movement of the robot arm 1, store data, and analyze data. The control cabinet 6 is provided with a display screen, a main switch, a protection switch, a contact switch and a power connector.

[0038] The robotic arm 1 is a three-axis robotic arm, the linear displacement accuracy of the robotic arm 1 is less than 0.01 mm, and the angular accuracy of the robotic arm 1 rotating around the fulcrum is less than 0.01°, and the robotic arm 1 can accurately move the gear to the specified position according to the control instruction.

[0039] The shift linkage mechanism 3 includes two parts, namely, a shift connection lever 8 and a U-shaped structure link 9. A plug hole is provided at the lower part of the shift connection lever 8, and the shift connection lever 8 is plugged with the shift lever of the tested shifter 7 through the plug hole. A U-shaped connection groove is provided at the upper part of the shift connection lever 8. By inserting the shift connection lever 8 into the shift lever of the tested shifter 8, the shift position at the top of the shift lever is converted into a fixed U-shaped connection groove, and the U-shaped connection groove is connected to the U-shaped structure link 9, and the U-shaped structure link 9 connects the shift lever to the mechanical arm 1.

[0040] The quick-change mechanism 4 includes a bracket 10 and a test sample quick clamp 11. The bracket 10 has four positioning pins, which can quickly fasten the bracket 10 to the horizontal platform 5, place the tested shifter 8 in the conformal groove on the bracket 10, and clamp the tested shifter 8 through the tested sample quick clamp 11 to ensure that the tested shifter 8 will not be displaced relative to the horizontal platform 5 during the test.

[0041] An operation method of an electronic shifter shift calibration device is as follows: the shifter 7 to be tested is fixed on the quick-change mechanism 4, and the shift linkage mechanism 3 and the quick-change mechanism 4 can be customized and developed according to different product structures and appearances, avoiding the problem of repeated design of the entire device as a whole. The shift linkage mechanism 3 can quickly and conveniently connect the shift lever of the shifter 7 to be tested and the mechanical arm 1. The quick-change mechanism 4 can conveniently and quickly disassemble and position the shifter 7 to be tested, and can be used in scenarios with requirements for temperature and humidity to quickly measure the high-temperature or low-temperature shifter 7 to be tested while keeping the temperature unchanged.

[0042] Turn on the main switch, protection switch, contact switch, computer power supply and operation interface of the control cabinet 6 in sequence; select the range and path to be measured, set the protection force value to prevent the measured shifter 7 or mechanical arm 1 from being damaged by the stuck lag, click a certain gear operation button, start the operation, and the mechanical arm 1 moves. While the mechanical arm 1 is moving, the magnetic field strength of the magnetic sensor in the measured shifter 7 is sent to the control cabinet 6 through the CAN bus, and the control cabinet 6 records the data in real time, analyzes and automatically saves it, and outputs the corresponding curve relationship of the magnetic field strength, force value information, and displacement angle to the display screen through curve fitting. After the measurement is completed, the mechanical arm 1 returns to the initial position, and the measured shifter 8 can be disassembled or the next measurement can be performed. According to the operating force value obtained in the control cabinet 6, the displacement angle of the mechanical arm 1, and the magnetic flux of the magnetic sensor in the measured shifter 8, the gear position is calibrated.

Claims

1. An electronic shifter shift calibration device, characterized by: It includes a mechanical arm (1), a force sensor (2), a shift linkage mechanism (3), a quick-change mechanism (4), a horizontal platform (5) and a control cabinet (6), The lower part of the mechanical arm (1) is fixedly mounted on one side of the upper part of the horizontal platform (5); the end of the last finger joint of the mechanical arm (1) is fixedly connected to the upper part of the shift linkage mechanism (3); the force sensor (2) is fixedly mounted on the third finger joint of the mechanical arm (1); the lower part of the shift linkage mechanism (3) is detachably connected to the shift lever of the tested shifter (7); the magnetic sensor in the tested shifter (7) measures the magnetic field strength of the tested shifter (7) in real time during the shifting process; the upper part of the quick-change mechanism (4) is fixedly connected to the tested shifter (7) via a clamping part The lower part of the quick-change mechanism (4) is fixedly connected to the upper part of the horizontal platform (5); the control cabinet (6) is electrically connected to the mechanical arm (1) and the force sensor (2) via a CAN bus, the control cabinet (6) receives the magnetic field strength, force value information and displacement angle, and outputs the corresponding curve relationship diagram to the operation interface after curve fitting, and calibrates the gear position of the measured gear shifter (7) according to the operating force value obtained in the control cabinet (6), the displacement angle of the mechanical arm (1) and the magnetic flux of the magnetic sensor of the measured gear shifter (7).

2. The electronic shifter shift calibration device according to claim 1, characterized in that: The mechanical arm (1) is a three-axis mechanical arm, the linear displacement accuracy of the mechanical arm (1) is less than 0.01 mm, and the angular accuracy of the mechanical arm (1) rotating around the fulcrum is less than 0.01°.

3. The electronic shifter shift calibration device according to claim 1, characterized in that: The shift linkage mechanism (3) comprises a shift connecting lever (8) and a U-shaped structural connecting rod (9); a plug hole is provided at the bottom of the shift connecting lever (8), the shift connecting lever (8) is plugged into the shift lever of the gear shifter (7) to be tested through the plug hole, and a U-shaped connecting groove is provided at the top of the shift connecting lever (8); the top of the U-shaped structural connecting rod (9) is fixedly connected to the end of the finger joint of the last section of the mechanical arm (1), and the bottom cross bar of the U-shaped structural connecting rod (9) is plugged into the U-shaped connecting groove of the shift connecting lever (8).

4. The electronic shifter shift calibration device according to claim 1, characterized in that: The quick-change mechanism (4) comprises a bracket (10) and a test sample quick clamp (11); four positioning pins are arranged at the bottom of the bracket (10), the bracket (10) is fixedly connected to the horizontal platform (5) via the positioning pins, and a conforming groove for placing the test shifter (7) is arranged at the top of the bracket (10); and test sample quick clamps (11) for fixing the test shifter (7) are arranged on both sides of the conforming groove.

5. The electronic shifter shift calibration device according to claim 1, characterized in that: The control cabinet (6) is provided with a display screen.

6. The electronic shifter shift calibration device according to claim 1, characterized in that: The control cabinet (6) has a built-in computer, and the control cabinet (6) is provided with a main switch, a protection switch, a contact switch and a power connector.

7. An operating method of an electronic shifter shift calibration device, using the electronic shifter shift calibration device as claimed in claim 1, characterized in that: The method comprises the following steps, and the following steps are performed in sequence: Step 1: fix the gear shifter (7) to be tested on the upper part of the horizontal platform (5) through the clamping part of the quick-change mechanism (4), plug the gear shift rod of the gear shifter (7) to be tested into the gear shift linkage mechanism (3), and turn on the main switch, protection switch, contact switch and computer power supply of the control cabinet (6) in sequence; Step 2: In the gear shift calibration operation interface of the computer, select the measurement range and path, set the protection force value, click the operation button of the selected gear, and the running motor of the mechanical arm (1) drives the mechanical arm (1) to run according to the signal of the control cabinet (6); Step 3: The robot arm (1) operates and sends the displacement angle during operation to the control cabinet (6) via the CAN bus; the force sensor (2) measures the force value of the tested shifter (7) during the shifting process in real time; the magnetic sensor in the tested sample measures the magnetic field strength of the tested shifter (7) during the shifting process in real time, and sends the magnetic field strength and force value information to the control cabinet (6) via the CAN bus; Step 4: The control cabinet (6) saves the received magnetic field strength, force value information and displacement angle and outputs the corresponding curve relationship diagram to the operation interface after curve fitting; Step 5: After the measurement is completed, the robot arm (1) returns to the test origin, and the gear shifter (7) under test is disassembled or waits for the next measurement; Step six: calibrate the position of the gear position according to the operating force value obtained in the control cabinet (6), the displacement angle of the mechanical arm (1), and the magnetic flux of the magnetic sensor of the gear shifter (7) under test.

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