A method for obtaining a shift knob shift compensation amount and a shift compensation method
By establishing a calibration baseline on the shift fingers and conducting multiple test calibrations, the maximum deformation of the cantilever was calculated as the compensation amount, thus solving the problem of reduced accuracy caused by the deformation of the shift fingers and achieving higher precision shift compensation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-03-02
- Publication Date
- 2026-03-24
AI Technical Summary
In the existing technology, the shift fingers undergo plastic deformation during the shifting process, which reduces the shifting accuracy and the compensation amount is not accurate enough, thus affecting the shifting effect.
A spatial coordinate measuring device is used to establish a calibration baseline for the shift fingers. The cantilever end point is calibrated in the coordinate system through multiple shift tests. The shift compensation amount is calculated, and the maximum deformation of the cantilever is used as the compensation amount to ensure accuracy.
The accuracy of shift compensation has been improved, ensuring shift precision and avoiding shift failure.
Smart Images
Figure CN117329298B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of vehicles, and more specifically, to a method for obtaining shift compensation amount of shift paddles and a shift compensation method. Background Technology
[0002] In the vehicle's gear shifting mechanism, the shift fingers are mounted on the rotating shaft of the shift rocker arm. When the vehicle shifts gears, the motor drives the rotating shaft to rotate the shift fingers synchronously, causing the shift fingers to push the gearbox shift fork to move, thereby realizing gear switching.
[0003] As the number of gear shifts increases, the shift paddles inevitably undergo plastic deformation, leading to a gradual decrease in shifting accuracy and, in severe cases, shifting failure. To ensure proper shifting, the vehicle needs to perform shift compensation after a certain number of shifts, which involves compensating for the rotation angle of the rotary shaft. The accuracy of this compensation determines the shifting precision.
[0004] Currently, the compensation amount used for shift compensation in the market is often based on empirical values corresponding to the material of the shift levers, which deviates significantly from the actual required compensation amount, resulting in poor shift compensation effect. Summary of the Invention
[0005] The purpose of this invention is to provide a method for obtaining the shift compensation amount of the shift paddle, which can obtain a shift compensation amount with higher accuracy.
[0006] Another objective of this invention is to provide a shift compensation method that has the advantage of better shift compensation effect.
[0007] This invention provides a technical solution:
[0008] A method for obtaining shift compensation amount of a shift paddle, wherein the shift paddle is provided with a cantilever, the method comprising:
[0009] Establish the calibration baseline of the shift finger in the horizontal coordinate system of the spatial coordinate measuring device, and calibrate the end point of the cantilever to obtain the initial calibration point;
[0010] Multiple shift tests were performed on the shift finger, and every first preset number of tests, the end point of the cantilever was calibrated once in the horizontal coordinate system of the spatial coordinate measuring device based on the calibration reference line, to obtain multiple test calibration points;
[0011] Multiple shift compensation values are calculated based on the coordinates of the multiple test calibration points and the initial calibration points in the horizontal coordinate system of the spatial coordinate measuring device.
[0012] Furthermore, the shift finger is also provided with a bushing, and one end of the cantilever is connected to the outer wall of the bushing. The step of establishing the calibration reference line of the shift finger in the horizontal coordinate system of the spatial coordinate measuring device includes:
[0013] Multiple auxiliary points are marked on the bushing, including a first auxiliary point, which is located at the position where the bushing is furthest from the cantilever in the circumferential direction;
[0014] The shift finger is placed in the horizontal coordinate system imaged by the spatial coordinate measuring device, and the position of the center point of the bushing is marked according to the multiple auxiliary points to obtain the first reference point;
[0015] The location of the first auxiliary point is determined by calibrating the horizontal coordinate system imaged by the spatial coordinate measuring device to obtain the second reference point;
[0016] Establish a line connecting the first reference point and the corresponding second reference point to obtain the calibration reference line.
[0017] Further, the step of placing the shift finger within the horizontal coordinate system imaged by the spatial coordinate measuring device, and calibrating the position of the center point of the bushing based on the multiple auxiliary points to obtain the first reference point includes:
[0018] Place the shift finger within the horizontal coordinate system imaged by the spatial coordinate measuring device;
[0019] In the horizontal coordinate system of the spatial coordinate measuring device, establish auxiliary lines from any one of the auxiliary points to the other two auxiliary points respectively;
[0020] Draw the perpendicular bisectors of the two auxiliary lines respectively, mark the intersection of the two perpendicular bisectors, and obtain the first reference point.
[0021] Further, the step of calculating multiple shift compensation amounts based on the coordinates of the multiple test calibration points and the initial calibration point in the horizontal coordinate system of the spatial coordinate measuring device includes:
[0022] Multiple triangle models are established by connecting the multiple test calibration points with the first reference point and the initial calibration point, respectively;
[0023] Based on the coordinates of each test calibration point, the coordinates of the first reference point, and the coordinates of the initial calibration point, the angle of the corner in each triangle model corresponding to the first reference point is calculated to obtain multiple shift compensation amounts.
[0024] Furthermore, the plurality of auxiliary points also include a second auxiliary point and a third auxiliary point, and the step of marking the plurality of auxiliary points on the bushing includes:
[0025] Mark the first auxiliary point at the position furthest from the cantilever in the circumferential direction of the bushing;
[0026] The second auxiliary point and the third auxiliary point are marked on opposite sides of the first auxiliary point in the circumferential direction of the bushing, wherein the central angle between the second auxiliary point and the third auxiliary point and the first auxiliary point is a preset angle.
[0027] Furthermore, the preset angle is 37.5°.
[0028] Further, the step of calibrating the end point of the cantilever based on the calibration reference line in the horizontal coordinate system of the spatial coordinate measuring device every first preset number of tests to obtain multiple test calibration points includes:
[0029] Every first preset number of tests, the shift finger is placed within the horizontal coordinate system imaged by the spatial coordinate measuring device;
[0030] The position of the center point of the bushing is obtained in the horizontal coordinate system of the spatial coordinate measuring device based on multiple auxiliary points.
[0031] Adjust the state of the shift finger so that the center point of the bushing coincides with the first reference point, and the first auxiliary point coincides with the second reference point;
[0032] The endpoints of the cantilever are calibrated to obtain the test calibration points.
[0033] Furthermore, the step of obtaining the position of the center point of the bushing in the horizontal coordinate system of the spatial coordinate measuring device based on the multiple auxiliary points includes:
[0034] In the horizontal coordinate system of the spatial coordinate measuring device, establish auxiliary lines from any one of the auxiliary points to the other two auxiliary points respectively;
[0035] Draw the perpendicular bisectors of the two auxiliary lines respectively. The intersection of the two perpendicular bisectors is the location of the center point of the bushing.
[0036] Furthermore, the first preset number of times is five thousand times.
[0037] The present invention also provides a shift compensation method applied to a vehicle, the vehicle being equipped with a shift mechanism, the shift mechanism including a rocker arm shaft, a motor, and shift fingers, wherein the motor and the shift fingers are both connected to the rocker arm shaft, and the method includes:
[0038] When the shift finger participates in the second preset number of shifts, the motor is controlled to drive the rocker arm shaft to rotate an additional shift compensation amount corresponding to the second preset number of shifts. The shift compensation amount is obtained by the method for obtaining the shift finger shift compensation amount, which includes:
[0039] Establish the calibration baseline of the shift finger in the horizontal coordinate system of the spatial coordinate measuring device, and calibrate the endpoint of the cantilever to obtain the initial coordinates;
[0040] Multiple shift tests were performed on the shift finger, and every first preset number of tests, the end point of the cantilever was calibrated once in the horizontal coordinate system of the spatial coordinate measuring device based on the calibration reference line to obtain multiple test coordinates;
[0041] Multiple shift compensation values are calculated based on the multiple test coordinates and the initial coordinates.
[0042] Compared to existing technologies, the method for obtaining shift compensation amount of the shift lever provided by this invention utilizes a spatial coordinate measuring device to establish a calibration baseline for the shift lever and conducts shift tests on the shift lever to simulate the actual shift process. Every first preset number of tests, the endpoint of the cantilever of the shift lever is calibrated within the horizontal coordinate system of the spatial coordinate measuring device based on the calibration baseline, obtaining multiple test coordinates to ensure calibration accuracy. Multiple shift compensation amounts are calculated based on these multiple test coordinates and the initial coordinates. The deformation at the endpoint of the cantilever is the maximum deformation of the shift lever, which is the shift compensation amount. Using the maximum deformation as the shift compensation amount further ensures compensation accuracy. Therefore, the beneficial effects of the method for obtaining shift compensation amount of the shift lever provided by this invention include: obtaining shift compensation amounts with higher accuracy. Attached Figure Description
[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0044] Figure 1 A flowchart illustrating a method for obtaining shift compensation amount using a shift paddle, provided as an embodiment of the present invention.
[0045] Figure 2 This is a schematic diagram of the shift fingers before the shift test;
[0046] Figure 3 for Figure 1A flowchart of a sub-step of step S101;
[0047] Figure 4 This is a schematic diagram showing the shift fingers positioned within the horizontal coordinate system imaged by the spatial coordinate measuring device before the shift test.
[0048] Figure 5 A schematic diagram of the calibration baseline for imaging within the horizontal coordinate system of a spatial coordinate measuring device.
[0049] Figure 6 for Figure 1 A flowchart of a sub-step of step S102;
[0050] Figure 7 This is a schematic diagram showing the shift fingers positioned within the horizontal coordinate system imaged by the spatial coordinate measuring device after the first preset number of shift tests.
[0051] Figure 8 for Figure 1 A flowchart of a sub-step in step S103.
[0052] Icons: 100 - Shift finger; 110 - Cantilever; 111 - End point; 120 - Bushing; 121 - First auxiliary point; 122 - Second auxiliary point; 123 - Third auxiliary point; 200 - Calibration baseline; 210 - First reference point; 220 - Second reference point; 230 - Initial calibration point; 240 - Test calibration point. Detailed Implementation
[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0054] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0055] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0056] In the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0057] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.
[0058] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0059] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
[0060] Example
[0061] Please refer to the following: Figure 1 and Figure 2 , Figure 1 The diagram shown is a flowchart of the method for obtaining the shift compensation amount of the shift lever provided in this embodiment. Figure 2 This is a schematic diagram of the shift lever 100 before the shift test. The shift lever 100 is equipped with a cantilever 110 and a bushing 120, with one end of the cantilever 110 connected to the outer wall of the bushing 120. The method for obtaining the shift compensation amount of the shift lever includes:
[0062] Step S101: Establish the calibration baseline 200 of the shift finger 100 in the horizontal coordinate system of the spatial coordinate measuring device, and calibrate the end point 111 of the cantilever 110 to obtain the initial calibration point 230.
[0063] Please refer to the following: Figure 3 , Figure 3 The diagram shown is a flowchart of one sub-step of step S101. Step S101 may include the following sub-steps:
[0064] Sub-step S1011: Mark multiple auxiliary points on the bushing 120.
[0065] In practical applications, multiple auxiliary points are marked on the bushing 120 using a marker or engraving tool. In this embodiment, there are three auxiliary points: a first auxiliary point 121, a second auxiliary point 122, and a third auxiliary point 123. The first auxiliary point 121 is located at the position furthest from the cantilever 110 in the circumferential direction of the bushing 120. The second auxiliary point 122 and the third auxiliary point 123 are located on opposite sides of the first auxiliary point 121 in the circumferential direction of the bushing 120.
[0066] Understandably, before the shifting test on bushing 120, it is assumed that the cantilever 110 has not deformed, and at this time, the axis of the cantilever 110 passes through the center point of bushing 120. The first auxiliary point 121 is the point where the axis of the cantilever 110 intersects with bushing 120 after passing through the center point of bushing 120.
[0067] In this embodiment, a model of the shift finger 100 is established to simulate shifting, and the deformation of the model is minimized within a preset angle θ around the first auxiliary point 121. In this embodiment, the preset angle θ is 37.5°, meaning that selecting other auxiliary points within a 37.5° central angle range around the first auxiliary point 121 ensures that the subsequently established calibration baseline 200 is more reliable.
[0068] Furthermore, to avoid machining errors and minimize the deformation impact between the three auxiliary points, in this embodiment, the central angles between the second auxiliary point 122 and the third auxiliary point 123 and the first auxiliary point 121 are both preset angles. That is, the angle formed by the lines connecting the second auxiliary point 122 and the first auxiliary point 121 to the center of the bushing 120 is 37.5°, and the angle formed by the lines connecting the third auxiliary point 123 and the first auxiliary point 121 to the center of the bushing 120 is also 37.5°.
[0069] In sub-step S1012, the shift finger 100 is placed in the horizontal coordinate system of the spatial coordinate measuring device, and the position of the center point of the bushing 120 is calibrated according to multiple auxiliary points to obtain the first reference point 210.
[0070] See also Figure 4 , Figure 4 The diagram shows the shift lever 100 positioned within the horizontal coordinate system of the spatial coordinate measuring device before the shift test. The spatial coordinate measuring device is equipped with a lens, and the interface captured by the lens inherently possesses a horizontal coordinate system. Furthermore, the device has the capability to calibrate and draw lines on this horizontal coordinate system. A wide variety of spatial coordinate measuring devices are available on the market, including bridge-type coordinate measuring machines (e.g., CRYSTA-APEX S776), two-axis coordinate measuring machines (e.g., GAOX3020), and six-axis articulated arm measuring machines (e.g., CONTROLNICE CAN).
[0071] By placing the shift lever 100 under the lens of the spatial coordinate measuring device, the shift lever 100 can be positioned within the horizontal coordinate system imaged by the spatial coordinate measuring device.
[0072] In this case, by utilizing the line-drawing function built into the spatial coordinate measuring device within the imaging area, auxiliary lines are established from any auxiliary point to the other two auxiliary points. Then, the perpendicular bisectors of the two auxiliary lines are drawn. Using the marking function built into the spatial coordinate measuring device, the intersection of the two perpendicular bisectors is marked, thus obtaining the first reference point 210. When the first reference point 210 is calibrated within the spatial coordinate measuring device, the device can automatically read the coordinates of the first reference point 210.
[0073] In sub-step S1013, the position of the first auxiliary point 121 is calibrated in the horizontal coordinate system of the spatial coordinate measuring device to obtain the second reference point 220.
[0074] By marking the position of the first auxiliary point 121 in the coordinate system, the second reference point 220 can be obtained.
[0075] Sub-step S1014: Establish the line connecting the first reference point 210 and the second reference point 220 to obtain the calibration reference line 200.
[0076] See also Figure 5 , Figure 5 A schematic diagram for calibrating the baseline 200 in the horizontal coordinate system of the spatial coordinate measuring device.
[0077] Since the first auxiliary point 121, the second auxiliary point 122, and the third auxiliary point 123 are all located within the area of least deformation on the bushing 120, the first reference point 210 is determined based on these three auxiliary points. The first reference point 210 corresponds to the position of the center point of the bushing 120, and hardly undergoes any deformation. Based on this, the line connecting the first reference point 210 and the second reference point 220 is used as the calibration reference line 200 for subsequent calibrations. This ensures that subsequent multiple calibrations of the end point 111 of the cantilever 110 are performed under the same reference, guaranteeing the accuracy of multiple calibrations.
[0078] With the calibration baseline 200 obtained, the endpoint 111 of the cantilever 110 is calibrated to obtain the initial calibration point 230, and the coordinates corresponding to the initial calibration point 230 are obtained. It should be noted that, in this embodiment, the endpoint 111 of the cantilever 110 refers to the point on the axis of the cantilever 110 at the end of the cantilever 110 away from the bushing 120 before the shift test.
[0079] Please continue reading. Figure 1The method for obtaining the shift compensation amount of the shift paddle also includes:
[0080] Step S102: Perform multiple shift tests on the shift finger 100, and every first preset number of tests, calibrate the end point 111 of the cantilever 110 based on the calibration reference line 200 in the horizontal coordinate system of the spatial coordinate measuring device to obtain multiple test calibration points 240.
[0081] Please refer to the following: Figure 6 , Figure 6 The diagram shown is a flowchart of one sub-step of step S102. Step S102 may include the following sub-steps:
[0082] Sub-step S1021: Every first preset number of tests, the shift finger 100 is placed in the horizontal coordinate system of the spatial coordinate measuring device.
[0083] Understandably, the shift test of the shift lever 100 involves mounting the shift lever 100 on the rotating shaft of the shift rocker arm, with a motor driving the rotating shaft to rotate the shift lever 100, which in turn moves the gearbox shift fork. Each test constitutes one shift, meaning the rotating shaft drives the shift lever 100 to rotate once.
[0084] In this embodiment, the first preset number of times is five thousand times. That is, every five thousand shift tests, the shift finger 100 is placed in the horizontal coordinate system of the spatial coordinate measuring device to calibrate the end point 111 of the cantilever 110.
[0085] Sub-step S1022: Based on multiple auxiliary points, obtain the location of the center point of the bushing 120 in the horizontal coordinate system of the spatial coordinate measuring device.
[0086] After placing the tested shift finger 100 into the horizontal coordinate system of the spatial coordinate measuring device, establish auxiliary lines from any one auxiliary point to the other two auxiliary points within the horizontal coordinate system of the spatial coordinate measuring device. Draw the perpendicular bisectors of the two auxiliary lines respectively, and the intersection of the two perpendicular bisectors is the location of the center point of the bushing 120.
[0087] Sub-step S1023: Adjust the state of the shift finger 100 so that the center point of the bushing 120 coincides with the first reference point 210, and the first auxiliary point 121 coincides with the second reference point 220.
[0088] Please refer to the following: Figure 7 , Figure 7The diagram shows the shift lever 100 after the first preset number of shift tests, positioned within the horizontal coordinate system imaged by the spatial coordinate measuring device. In this state, the center point of the bushing 120 of the shift lever 100 coincides with the first reference point 210, and the first auxiliary point 121 coincides with the second reference point 220.
[0089] Adjusting the state of the shift finger 100 includes adjusting the position and angle of the slide finger in the horizontal coordinate system. When the center point of the bushing 120 coincides with the first reference point 210, and the first auxiliary point 121 coincides with the second reference point 220, it indicates that the calibration this time is under the same reference as the calibration of the cantilever 110 before the test.
[0090] In sub-step S1024, the endpoint 111 of the cantilever 110 is calibrated to obtain the test calibration point 240.
[0091] After the shift test, the cantilever 110 undergoes bending deformation. At this point, the test calibration point 240 obtained by calibrating the end point 111 of the cantilever 110 is misaligned with the initial calibration point 230, meaning their coordinates are different. Furthermore, as the number of shift tests increases, the degree of deformation of the cantilever 110 gradually increases, and the coordinate deviation between the obtained test calibration point 240 and the initial calibration point 230 becomes larger and larger.
[0092] Please continue reading. Figure 1 The method for obtaining the shift compensation amount of the shift paddle also includes:
[0093] Step S103: Calculate multiple shift compensation values based on the coordinates of multiple test calibration points 240 and initial calibration points 230 in the horizontal coordinate system of the spatial coordinate measuring device.
[0094] Please refer to the following: Figure 8 , Figure 8 The diagram shown is a flowchart of one sub-step of step S103. Step S103 may include the following sub-steps:
[0095] Sub-step S1031: Establish multiple triangular models by connecting multiple test calibration points 240 with the first reference point 210 and the initial calibration point 230, respectively.
[0096] In sub-step S1032, based on the coordinates of each test calibration point 240, the coordinates of the first reference point 210, and the coordinates of the initial calibration point 230, the angle of the corner in each triangle model corresponding to the first reference point 210 is calculated to obtain multiple shift compensation amounts.
[0097] It is understandable that sub-steps S1031 and S1032 are actually the process of calculating the maximum offset of the cantilever 110 using mathematical formulas, and obtaining multiple shift compensation amounts.
[0098] In summary, the method for obtaining the shift compensation amount of the shift lever provided in this embodiment uses the shift lever 100 to perform a slip test and uses a spatial coordinate measuring device to ensure that each calibration is performed under the same reference, thereby ensuring the accuracy of the test calibration point 240 for each calibration and thus ensuring the accuracy and reliability of the calculated shift compensation amount.
[0099] This embodiment also provides a shift compensation method applied to a vehicle. The vehicle is equipped with a shift mechanism, which includes a rocker arm shaft, a motor, and shift fingers 100. Both the motor and the shift fingers 100 are connected to the rocker arm shaft. The shift compensation method includes:
[0100] When the shift finger 100 participates in the second preset number of shifts, the control motor drives the rocker arm shaft to rotate an additional shift compensation amount corresponding to the second preset number of shifts. The shift compensation amount is obtained by the aforementioned method for obtaining the shift compensation amount of the shift finger.
[0101] It is understandable that the second preset number of times can be a multiple of the first preset number of times. For example, if the second preset number of times is 5,000 times, then the corresponding shift compensation amount is the shift compensation amount calculated based on the first test calibration point 240 obtained from the calibration; if the second preset number of times is 10,000 times, then the corresponding shift compensation amount is the shift compensation amount calculated based on the second test calibration point 240 obtained from the calibration.
[0102] Benefiting from the advantage that the method for obtaining the shift compensation amount of the shift paddle can obtain an accurate and reliable shift compensation amount, the shift compensation method provided in this embodiment has the feature of more accurate shift compensation.
[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A method for obtaining shift compensation amount of shift paddle, characterized in that, The shift lever is provided with a cantilever, and the method includes: Establish the calibration baseline of the shift finger in the horizontal coordinate system of the spatial coordinate measuring device, and calibrate the end point of the cantilever to obtain the initial calibration point; Multiple shift tests were performed on the shift finger, and every first preset number of tests, the end point of the cantilever was calibrated once in the horizontal coordinate system of the spatial coordinate measuring device based on the calibration reference line, to obtain multiple test calibration points; Multiple shift compensation values are calculated based on the coordinates of the multiple test calibration points and the initial calibration points in the horizontal coordinate system of the spatial coordinate measuring device. The shift finger is also provided with a bushing, and one end of the cantilever is connected to the outer wall of the bushing. The step of establishing the calibration baseline of the shift finger in the horizontal coordinate system of the spatial coordinate measuring device includes: Multiple auxiliary points are marked on the bushing, including a first auxiliary point, which is located at the position where the bushing is furthest from the cantilever in the circumferential direction; The shift finger is placed in the horizontal coordinate system imaged by the spatial coordinate measuring device, and the position of the center point of the bushing is marked according to the multiple auxiliary points to obtain the first reference point; The location of the first auxiliary point is determined by calibrating the horizontal coordinate system imaged by the spatial coordinate measuring device to obtain the second reference point; Establish a line connecting the first reference point and the corresponding second reference point to obtain the calibration reference line; The plurality of auxiliary points further includes a second auxiliary point and a third auxiliary point, and the step of marking the plurality of auxiliary points on the bushing includes: Mark the first auxiliary point at the position furthest from the cantilever in the circumferential direction of the bushing; The second auxiliary point and the third auxiliary point are marked on opposite sides of the first auxiliary point in the circumferential direction of the bushing, respectively, wherein the central angle between the second auxiliary point and the third auxiliary point and the first auxiliary point is a preset angle; The step of placing the shift finger within the horizontal coordinate system imaged by the spatial coordinate measuring device, and calibrating the position of the center point of the bushing based on multiple auxiliary points to obtain the first reference point includes: Place the shift finger within the horizontal coordinate system imaged by the spatial coordinate measuring device; In the horizontal coordinate system of the spatial coordinate measuring device, establish auxiliary lines from any one of the auxiliary points to the other two auxiliary points respectively; Draw the perpendicular bisectors of the two auxiliary lines respectively, mark the intersection of the two perpendicular bisectors, and obtain the first reference point.
2. The method for obtaining shift compensation amount of the shift lever according to claim 1, characterized in that, The step of calculating multiple shift compensation amounts based on the coordinates of the multiple test calibration points and the initial calibration point in the horizontal coordinate system of the spatial coordinate measuring device includes: Multiple triangle models are established by connecting the multiple test calibration points with the first reference point and the initial calibration point, respectively; Based on the coordinates of each test calibration point, the coordinates of the first reference point, and the coordinates of the initial calibration point, the angle of the angle corresponding to the first reference point in each triangle model is calculated to obtain multiple shift compensation amounts.
3. The method for obtaining the shift compensation amount of the shift lever according to claim 1, characterized in that, The preset angle is 37.5°.
4. The method for obtaining the shift compensation amount of the shift lever according to claim 1, characterized in that, The step of calibrating the end point of the cantilever based on the calibration reference line in the horizontal coordinate system of the spatial coordinate measuring device once every first preset number of tests to obtain multiple test calibration points includes: Every first preset number of tests, the shift finger is placed within the horizontal coordinate system imaged by the spatial coordinate measuring device; The position of the center point of the bushing is obtained in the horizontal coordinate system of the spatial coordinate measuring device based on multiple auxiliary points. Adjust the state of the shift finger so that the center point of the bushing coincides with the first reference point, and the first auxiliary point coincides with the second reference point; The endpoints of the cantilever are calibrated to obtain the test calibration points.
5. The method for obtaining the shift compensation amount of the shift lever according to claim 1, characterized in that, The first preset number of times is five thousand times.
6. A shift compensation method applied to a vehicle, the vehicle being equipped with a shift mechanism, the shift mechanism including a rocker arm shaft, a motor, and shift fingers, wherein the motor and the shift fingers are both connected to the rocker arm shaft, characterized in that, The method includes: When the shift finger participates in the second preset number of shifts, the motor is controlled to drive the rocker arm shaft to rotate an additional shift compensation amount corresponding to the second preset number of shifts. The shift compensation amount is obtained by the method for obtaining the shift compensation amount of the shift finger as described in any one of claims 1-5, and the second preset number of shifts is a multiple of the first preset number of shifts.
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