Engineering mechanical vehicle automatic driving robot gear-holding type gear shifting mechanical arm

Abstract

The invention discloses a gear-holding type gear shifting manipulator of an automatic driving robot of an engineering machinery vehicle, and relates to the field of unmanned equipment and unmanned driving of engineering machinery vehicles. The mechanical arm comprises a mechanical arm base, a gear shifting lower rod assembly and a gear shifting upper rod assembly, the gear shifting upper rod assembly can achieve the gear shifting action of a forward gear, a neutral gear and a reverse gear of the engineering machine, and the gear shifting lower rod assembly can achieve the gear shifting action of a speed gear; the driving motor drives the ball screw in the electric cylinder to move, transmission is conducted through the connecting rod executing mechanism, accurate clamping and gear shifting operation of the gear-holding type gear shifting rod of the engineering mechanical vehicle are achieved, and meanwhile real-time monitoring and early warning of gear shifting action can be achieved through the displacement sensor. The technical blank that unmanned gear shifting of engineering machinery vehicle equipment is difficult to achieve quickly on the premise that existing engineering equipment does not need to be changed is filled, and the requirement for automatic gear shifting of the engineering machinery vehicle can be met. The gear shifting mechanism has the characteristics of compact structure, high gear shifting precision and adaptability to working conditions of engineering machinery.

Description

Technical Field

[0001] This invention relates to the field of unmanned and autonomous driving technology for construction machinery vehicles, specifically to a column-mounted gear shifting robot for autonomous driving of construction machinery vehicles. Background Technology

[0002] The development of autonomous driving robot technology is a crucial step in ensuring national security and overcoming technological barriers. Developing mobile, rapidly deployable driving robots allows wheeled construction machinery to quickly achieve low-cost unmanned operation in the field without returning to the factory, and immediately deploy it for engineering support operations, thus enhancing rapid response capabilities. Furthermore, it can be used for safety and durability testing of new energy intelligent vehicles and military vehicles in hazardous and harsh environments, as well as in scenarios such as intelligent mines and unmanned transportation equipment. This approach ensures safety, improves operational accuracy and efficiency, and reduces costs, demonstrating broad application prospects.

[0003] Construction and mining operations are often demanding and complex, requiring frequent gear shifting by engineering machinery such as wheeled bulldozers, wheeled excavators, and wheeled loaders. Autonomous driving robots can automatically and accurately navigate and perform tasks based on the vehicle's driving status and operational needs, improving power transmission efficiency and operational stability, thereby enhancing overall work efficiency and quality.

[0004] In engineering machinery vehicles and some special vehicles, column shifting is often used to meet the power requirements under complex working conditions. Traditional manual shifting relies on the driver to manually operate the shift lever, which is labor-intensive and can easily affect work efficiency or even cause safety problems due to operational errors in complex working environments.

[0005] With the development of automation technology in construction machinery, the requirements for automation and precision of vehicle autonomous driving robots are increasing. These robots are used in most construction machinery vehicles, but the gear shift levers of these vehicles often have characteristics such as high resistance and harsh working conditions (high vibration, high dust), making it difficult for existing gear shifting robots designed for ordinary vehicles to meet their needs.

[0006] Chinese Patent 200420027440.8 discloses a seven-bar linkage dual-degree-of-freedom closed-chain shifting manipulator, whose main execution is a planar parallel seven-bar mechanism, which can realize the mechanical decoupling of gear engagement and gear selection. The disadvantage is that the decoupling accuracy is strictly limited by the size of the linkage, and there is a control delay due to the use of pneumatic control.

[0007] Chinese Patent 201110264354.3 discloses a gear shifting robot for automobile testing. Its actuator is a series mechanism, which controls the movement of gear selection and gear engagement directions separately through a servo rotary motor and a reducer. This can achieve decoupled control of gear selection and gear engagement actions. The advantage is simple control, but the disadvantage is that it will transmit motion errors, which can easily lead to error accumulation and affect motion accuracy.

[0008] Chinese Patent 201410445820.1 discloses a car gear shifting robot based on a spatial parallel four-bar linkage mechanism.

[0009] The shifting device of the shifting robot arm, which uses a spatial parallel four-bar linkage mechanism, has multiple degrees of freedom in space and can perform high-efficiency shifting operations on the gearbox. The disadvantage is that it can only hold one handle at a time and occupies a large space.

[0010] Chinese patent 202310528816.0 discloses an automatic driving robot column shifting actuator. Through modular design, it can realize automatic shifting of four gears: R / D, N, and P on the column shifter of a test vehicle. However, its structure is complex, with many parts, and it is only suitable for small vehicles.

[0011] Chinese patent CN202420205119.1 discloses a column shifting execution structure for the research and development of autonomous driving robots. The cooperation and use of the various components make it convenient for users to shift gears and use the execution structure efficiently. However, it cannot be installed without affecting the original components in the driver's cab, resulting in poor applicability.

[0012] In summary, the existing technology has the following shortcomings:

[0013] (1) Lack of shifting manipulators for the unique shifting method of construction machinery: Existing shifting manipulators are mostly designed for ordinary vehicles and do not take into account that the shift lever of construction machinery vehicles has an upper lever and a lower lever, and cannot operate the two levers at the same time;

[0014] (2) The levers of the gear shifting robot will transmit motion errors during use, which can easily lead to error accumulation, thus affecting the motion accuracy of the structure. In addition, due to the uncertainty of the motion trajectory, the original handle is easily damaged.

[0015] (3) The installation mechanism is not adaptable: it is not possible to use a single gear shifting robot for different vehicle models. The structure lacks an adjustment mechanism to adapt to different sizes of cabs, and it is not possible to install it without damaging the original cab mechanism.

[0016] (4) The lack of a monitoring and control system makes it impossible to provide real-time feedback on the movement information of the robot during the movement process, so as to correct the operation of the mechanism.

[0017] Therefore, there is an urgent need for a column shifter-type robotic arm specifically designed for engineering machinery vehicles to address the aforementioned technical challenges. Summary of the Invention

[0018] The purpose of this invention is to overcome the shortcomings of the prior art and provide a column shifter for an autonomous driving robot for construction machinery vehicles. Based on two sets of shifting devices composed of a five-bar linkage, through the mutual constraints between the components, the two sets of shifting devices can simultaneously drive the upper and lower handles to complete all shifting actions in a confined space, operating independently without interference. This achieves automated and precise operation of the shift lever of construction machinery vehicles, real-time monitoring and control, reduces the driver's workload, and improves shifting efficiency and accuracy.

[0019] To achieve the above objectives, the present invention adopts the following technical solution:

[0020] A column shifter-type manipulator for autonomous driving of engineering machinery vehicles is characterized by comprising a manipulator base, a lower shift lever assembly, and an upper shift lever assembly; the lower shift lever assembly and the upper shift lever assembly, both of which include a five-bar linkage, have the same structure and are mounted side by side on the manipulator base, respectively performing two sets of shifting actions: forward / backward and speed-based.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] (1) The automatic driving robot shifting manipulator of the present invention innovatively adopts two sets of horizontally arranged servo motor drive devices, which are combined with two sets of shifting devices composed of a five-bar linkage to form a spatial mechanism. Through the mutual constraints between the components, the two shifting devices can simultaneously drive the upper and lower handles to complete all shifting actions in a narrow space, and operate independently without interfering with each other;

[0023] (2) The two sets of shifting devices of the present invention adopt a series planar five-bar linkage at the execution end, each driven by a servo motor. The transmission is precise and the error is small, ensuring that the mechanism will not be damaged during long-term operation; and each set of linkages has a fixed trajectory, and there is a clear mathematical relationship between the motion trajectory and the length of each link.

[0024] (3) The shifting robot arm mechanism of the present invention is equipped with an adjustment mechanism for clamping the shifting handle in the cab, including a length adjustment mechanism (double-headed screw) and an angle adjustment mechanism (ball joint bearing). During installation, it can be adjusted to adapt to different cab sizes. Moreover, this mechanism does not need to damage the original cab mechanism and can be directly fixed to the bottom of the cab seat to complete the installation.

[0025] (4) The present invention can connect the displacement sensor to the drive device through the provided connector, and then through the monitoring system, the displacement of the lead screw can be converted into the displacement of the end of the actuator in real time and accurately, and transmitted to the control system, so that the driver can collect information and perform gear shifting.

[0026] (5) The overall structure is compact and lightweight, and will not increase the load on the vehicle, ensuring that it will not affect the driver's normal driving. At the same time, the robotic arm is easy to install and simple to maintain, making it more adaptable. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural view of the gear-shifting robotic arm of the present invention;

[0028] Figure 2 This is a structural diagram of the five-bar linkage mechanism of the gear shifting robot.

[0029] Figure 3 The end-effector motion trajectory of the five-bar linkage on the gear shifting robot arm;

[0030] Figure 4 The end-effector motion trajectory of the five-bar linkage of the gear-shifting robot arm;

[0031] Figure 5 A simplified kinematic diagram of the five-bar linkage mechanism for the gear shifting robot;

[0032] Figure 6 Technical block diagram of a remote monitoring and early warning system for a gear-shifting robotic arm;

[0033] Figure 7 This is a top view of the gear-shifting robotic arm structure of the present invention.

[0034] Reference numerals: 1. Robotic arm base; 2. Lower lever drive motor; 3. Lower lever electric cylinder; 4. Lower lever displacement sensor; 5. Lower lever ball screw; 6. Lower lever connecting plate; 7. Lower lever five-bar linkage; 8. Upper lever drive motor; 9. Upper lever electric cylinder; 10. Upper lever displacement sensor; 11. Upper lever ball screw; 12. Upper lever connecting plate; 13. Upper lever five-bar linkage; 7-1 Lower lever lead screw connecting rod; 7-2 Lower lever first drive chain; 7-3 L-shaped articulated arm; 7-4 Long rod; 7-5 Lower lever second drive chain; 7-6 Lower lever first frame shaft; 7-7 Lower lever second frame shaft; 7-8 First double-ended screw; 7-9 First ball joint bearing; 7-10 Lower lever gripper fixed plate; 7-11 Lower lever gripper moving plate. The first active chain is 7-2 links long. The shorter side of the L-shaped joint arm is 7-3. For the longer side length, The length of the long rod is 7-4. The length of the second active chain 7-5 is, The horizontal and vertical distances between the lower rod electric cylinder 3 and the lower rod frame shaft 7-10; Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0036] Combination Figure 1 As shown, an autonomous driving robot gear shifting manipulator for engineering machinery vehicles includes a manipulator base 1, a lower gear shift lever assembly, and an upper gear shift lever assembly. The manipulator base 1 is fixedly connected to the seat in the vehicle's cab via bolts or other connecting parts, providing stable support for the entire gear shifting manipulator and ensuring its stable position during gear shifting operations.

[0037] The shift lever assembly includes a shift lever drive motor 2, a shift lever electric cylinder 3, a shift lever displacement sensor 4, a shift lever ball screw 5, a shift lever connecting piece 6, and a shift lever five-bar linkage 7. The shift lever drive motor 2 and the shift lever electric cylinder 3 are fixed to corresponding mounting positions on the robot arm base 1. The shift lever electric cylinder 3 contains a pair of meshing spur gears. The driving gear is fixedly connected to the output shaft of the shift lever drive motor 2 via a key pin. A through hole is provided on the internal central axis of the driven gear, and the driven gear is fixedly connected to a ball nut. The shift lever ball screw 5 passes through... Through the through hole inside the driven gear, the lead screw nut engages with the lower rod ball screw 5. The main shaft of the lower rod drive motor 2 drives the drive gear, which in turn drives the lead screw nut to rotate, thereby realizing the linear motion of the lower rod ball screw 5. Thus, the rotational motion of the lower rod drive motor 2 is transmitted as the linear motion of the lower rod ball screw 5. The lower rod displacement sensor 4 is connected to the lower rod ball screw 5 through the lower rod connecting piece 6 to realize displacement monitoring. The lower rod ball screw 5 is connected to the lower rod five-bar linkage 7 by bolts, and the lower rod five-bar linkage 7 is connected to the gear shift lever in the cab.

[0038] The shift lever assembly includes a shift lever drive motor 8, a shift lever electric cylinder 9, a shift lever displacement sensor 10, a shift lever ball screw 11, a shift lever connecting piece 12, and a shift lever five-bar linkage mechanism 13. The shift lever drive motor 8 and the shift lever electric cylinder 9 are fixed to corresponding mounting positions on the robot arm base 1. The shift lever electric cylinder 9 contains a pair of meshing spur gears. The driving gear is fixedly connected to the output shaft of the shift lever drive motor 8 via a key pin. A through hole is provided on the internal central axis of the driven gear, and the driven gear is fixedly connected to a ball nut. The shift lever ball screw 11 passes through the driven gear... The through hole inside the drive gear allows the lead screw nut to engage with the upper rod ball screw 11. The main shaft of the upper rod drive motor 8 drives the drive gear, which in turn drives the lead screw nut to rotate, thereby achieving the linear motion of the upper rod ball screw 11. This transmits the rotational motion of the lower rod drive motor 2 as the linear motion of the upper rod ball screw 11. The upper rod displacement sensor 10 is connected to the upper rod ball screw 11 through the upper rod connecting piece 12 to achieve displacement monitoring. The upper rod ball screw 11 is bolted to the upper rod five-bar linkage 13, and the end of the upper rod five-bar linkage 13 is connected to the gear shift lever in the driver's cab.

[0039] In this embodiment, the lower lever five-bar linkage 7 adopts a planar hinge five-bar structure, and the lever length ratio can be customized according to the movement trajectory of the shift lever to ensure movement accuracy; the ball joint bearing is selected as self-lubricating type to reduce friction and wear and improve the service life of the mechanism.

[0040] Combination Figure 2 The specific structure of the lower five-bar linkage 7 is as follows: it includes a lead screw 7-1, a first active chain 7-2, an L-shaped articulated arm 7-3, a long rod 7-4, and a second active chain 7-5; the L-shaped articulated arm 7-3, the long rod 7-4, and the second active chain 7-5 form a parallelogram structure. The front end of the lead screw connecting rod 7-1 is fixedly connected to the end of the ball screw of the electric cylinder via a double-ended screw. The end of the lead screw connecting rod 7-1 is hinged to the first drive chain 7-2 to form a rotating pair. The end of the first drive chain 7-2 is hinged to the front end of the L-shaped joint arm 7-3 to form a rotating pair. The end of the L-shaped joint arm 7-3 is hinged to the front end of the long rod 7-4 to form a rotating pair. One end of the second drive chain 7-5 is connected to the middle of the long rod 7-4 to form a rotating pair. The end of the long rod 7-4 is fixedly connected to one end of the first double-ended screw 7-8. The other end of the first double-ended screw 7-8 is fixedly connected to the front end of the first ball joint bearing 7-9 via a thread. The end of the first ball joint bearing 7-9 is fixed to the fixed plate 7-10 of the clamp. The moving plate 7-11 of the clamp is fixedly connected to the fixed plate 7-10 of the clamp via bolts to clamp the shift lever. The first frame shaft 7-6 and the second frame shaft 7-7 of the lower rod are fixedly installed on the base 1. The middle bend of the L-shaped joint arm 7-3 is connected to the first frame shaft 7-6 of the lower rod to form a rotating pair. The other end of the second drive chain 7-5 is connected to the second frame shaft 7-7 of the lower rod to form a rotating pair.

[0041] The first ball joint bearing 7-9 is a spherical sliding bearing that can achieve multi-directional angular deflection motion. Its internal design is based on a spherical contact pair, which can achieve multi-directional angular deflection, compensate for installation and motion errors, and withstand complex loads, making it suitable for harsh working conditions.

[0042] The upper five-bar linkage 13 and the lower five-bar linkage 7 have the same structure.

[0043] Combination Figure 3 The end trajectory of the five-bar linkage of the gear shifting robot is an arc, which coincides with the shifting trajectory of the gear shift lever of the construction machinery vehicle, and can control the shift lever to switch between forward gear, neutral gear and reverse gear.

[0044] Combination Figure 4 The end trajectory of the five-bar linkage of the shifting robot is an arc, which coincides with the shifting trajectory of the shift lever of the construction machinery vehicle, and can control the shift lever to switch between four speed gears.

[0045] Combination Figure 5 The kinematic diagram of the five-bar linkage 7 of the gear shifting robot shows the length of each link and its relative motion angle. Through mathematical calculation, the displacement trajectory equation of the end of the five-bar linkage can be established.

[0046] ;

[0047] Among them, the intermediate function In the formula, , , , , , , All are known quantities. , Let P be the coordinates of a rectangular coordinate system established relative to axis 7-10 of the lower rod frame. The displacement trajectory of point P at the end of the rod is determined solely by the vertical displacement of the lower rod ball screw 5. The decision is made. The motion trajectory is precise and error-free, and control is simple. The length of the first active chain link 7-2 is... The short side length of the L-shaped joint arm 7-3 is The length of the long side is The length of the long rod 7-4 is The length of the second active chain 7-5 is , The horizontal and vertical distances between the lower rod electric cylinder 3 and the lower rod frame shaft 7-10 are given.

[0048] Combination Figure 6The remote early warning and monitoring system that accompanies the gear shifting robot can transmit information to the remote operator in real time through multiple layers and multiple sensors, which facilitates the next action, and is also equipped with an emergency warning system.

[0049] The working process of the automatic driving robot shifting manipulator for engineering machinery vehicles described in this invention is as follows: combining Figure 1 When the vehicle needs to perform a downshift, the control system sends a command, and the downshift drive motor 2 starts, transmitting motion through the downshift electric cylinder 3. Inside the electric cylinder is a pair of spur gears. The driving gear is connected to the downshift drive motor 2 via a key pin, and the driven gear is connected to the ball screw 5 and ball nut. The motor spindle drives the driving gear to drive the screw nut, thus transmitting the rotational motion of the drive motor 2 into the linear motion of the downshift ball screw 4. The downshift ball screw 5 is connected to the downshift displacement sensor 4 via the downshift connecting piece 6. The downshift displacement sensor 4 can monitor the movement of the downshift ball screw 5 in real time and provide feedback to the control system, forming a closed-loop control. The downshift ball screw 5 drives the downshift five-bar linkage 7 to move, achieving the shifting action according to the required operating conditions.

[0050] Combination Figure 1 When the vehicle needs to perform a gear shift, the control system sends a command, the upper lever drive motor 8 starts, and the motion is transmitted through the upper lever electric cylinder 9, which transmits the rotational motion as the linear motion of the upper lever ball screw 11. The upper lever ball screw 11 is connected to the upper lever displacement sensor 10 through the upper lever connecting piece 12. The upper lever displacement sensor 10 can monitor the motion of the upper lever ball screw 11 in a timely manner and feed it back to the control system to form a closed-loop control. The upper lever ball screw 11 drives the upper lever five-bar linkage 13 to move, realizing the gear shifting action according to the required working conditions.

[0051] Combination Figure 6 The present invention also discloses a remote early warning monitoring system for the shifting robot that is used with the shifting robot, including a remote monitoring and sensing layer, a transmission layer and a remote control and early warning layer;

[0052] The remote monitoring and sensing layer includes a data acquisition module and a data fusion processing module. The data acquisition module includes the up-and-down displacement sensors of the gear-shifting robotic arm, various cameras, and an onboard tilt sensor. The up-and-down displacement sensors collect data such as the displacement and speed of the corresponding ball screw, capturing details of gear shifting. A gimbal camera and a high-definition fixed camera acquire data on the surrounding environment and the gear shifting status inside the driver's cab. The onboard tilt sensor collects vehicle operation data, and optional vibration and dust sensors can supplement the operating condition information.

[0053] The data fusion processing module is used to fuse information from various sensors. The fused sensor information is then transmitted to the remote control center via the wireless communication module and transceiver antenna in the transmission layer.

[0054] The remote control center includes a data visualization terminal and an early warning judgment module. The data visualization terminal displays data visually and judges the status according to preset thresholds: shifting deviation, vehicle tilt angle, and environmental and operating condition anomalies correspond to different early warning levels. Corresponding prompts are output according to the early warning level, and the anomaly type is marked. The remote operator makes decisions based on the early warning level; the decisions corresponding to different early warning levels are: Level 1: Continue observation; Level 2: Issue adjustment instructions; Level 3: Execute emergency operations. The remote operator sends control commands based on the decisions, which are transmitted to the vehicle control execution module via the wireless communication module. The vehicle control execution module drives the robotic arm or the braking system of the construction machinery vehicle to act, while simultaneously collecting feedback data from various sensors in the remote monitoring perception layer to form a closed loop.

[0055] The system is activated synchronously with the construction machinery vehicle, first completing a full module self-check, covering the up and down lever displacement sensors of the gear shifting robot, various cameras, vehicle-mounted tilt sensors, data processing unit, and wireless communication module, confirming that the components are powered and signal is normal. Then, preset parameters are loaded, including gear shifting displacement thresholds, vehicle posture safety range, warning standards, and communication protocol adaptation rules. Raw data is preprocessed by the onboard module, then converted and fused.

[0056] During vehicle operation, the system cyclically executes the "collection-fusion-transmission-judgment-execution-monitoring feedback" process. When the vehicle stops operating or the system is shut down, each module resets, records the last data, and then power is cut off.

[0057] The above-described specific implementations can be partially adjusted by those skilled in the art in different ways without departing from the principles and purpose of the present invention. The scope of protection of the present invention is defined by the claims and is not limited to the above-described specific implementations. All implementation schemes within the scope of the claims are bound by the present invention.

[0058] The above-described specific implementations can be partially adjusted by those skilled in the art in different ways without departing from the principles and purpose of the present invention. The scope of protection of the present invention is defined by the claims and is not limited to the above-described specific implementations. All implementation schemes within the scope of the claims are bound by the present invention.

Claims

1. An automatic robot gear shifting manipulator for an engineering machine vehicle, characterized in that, The mechanical hand base (1), gear shifting lower rod assembly and gear shifting upper rod assembly are included; the gear shifting lower rod assembly and the gear shifting upper rod assembly, both containing five-link mechanisms, have the same structure and are installed side by side on the mechanical hand base (1) to respectively complete front and rear gear shifting actions and speed gear shifting actions.

2. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type shifting mechanism according to claim 1, characterized by, The gear shifting lower rod assembly includes a lower rod driving motor (2), a lower rod electric cylinder (3), a lower rod ball screw (5) and a lower rod five-link mechanism (7); the lower rod driving motor (2) and the lower rod electric cylinder (3) of the gear shifting lower rod assembly are fixed on the mechanical hand base (1); the lower rod electric cylinder (3) has a pair of intermeshing straight gears; the driving gear is fixedly connected with the output shaft of the lower rod driving motor (2) through a key pin; the driven gear is provided with a through hole in the middle axis; the driven gear is fixedly connected with a ball nut; the lower rod ball screw (5) passes through the through hole in the driven gear; a screw nut is matched with the lower rod ball screw (5); the main shaft of the lower rod driving motor (2) drives the driving gear to rotate, and then drives the screw nut to rotate, and then realizes the linear motion of the lower rod ball screw (5), so that the rotary motion of the lower rod driving motor (2) is converted into the linear motion of the lower rod ball screw (5); the lower rod ball screw (5) is connected with the lower rod five-link mechanism (7) through a bolt; the lower rod five-link mechanism (7) is connected with a gear shifting lower rod in a cab.

3. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type according to claim 2, characterized by, The gear shifting lower rod assembly further includes a lower rod displacement sensor (4) and a lower rod connecting plate (6); the lower rod displacement sensor (4) is connected with the lower rod ball screw (5) through the lower rod connecting plate (6) to realize displacement monitoring.

4. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type shifting mechanism according to claim 2, characterized by, The lower rod five-link mechanism (7) includes a screw rod connecting rod (7-1), a first driving chain (7-2), an L-shaped joint arm (7-3), a long rod (7-4) and a second driving chain (7-5); the L-shaped joint arm (7-3), the long rod (7-4) and the second driving chain (7-5) form a parallelogram structure; the front end of the screw rod connecting rod (7-1) is fixedly connected with the end of the electric cylinder ball screw through a double-headed screw rod; the end of the screw rod connecting rod (7-1) is hinged with the first driving chain (7-2) to form a rotary pair; the end of the first driving chain (7-2) is hinged with the front end of the L-shaped joint arm (7-3) to form a rotary pair; the end of the L-shaped joint arm (7-3) is hinged with the front end of the long rod (7-4) to form a rotary pair; one end of the second driving chain (7-5) is connected with the middle of the long rod (7-4) to form a rotary pair; the end of the long rod (7-4) is fixedly connected with one end of the first double-headed screw rod (7-8); the other end of the first double-headed screw rod (7-8) is fixedly connected with the front end of the first spherical joint bearing (7-9).

5. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type shifting mechanism according to claim 4, characterized by, The end of the first spherical joint bearing (7-9) is fixedly connected with a gripper fixed plate (7-10); a gripper movable plate (7-11) is fixedly connected with the gripper fixed plate (7-10) through a bolt to clamp a gear shifting rod; a lower rod first rack shaft (7-6) and a lower rod second rack shaft (7-7) are fixedly installed on the mechanical hand base (1); the middle bending part of the L-shaped joint arm (7-3) is connected with the lower rod first rack shaft (7-6) to form a rotary pair; the other end of the second driving chain (7-5) is connected with the lower rod second rack shaft (7-7) to form a rotary pair.

6. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type shifting mechanism according to claim 5, characterized by, The first spherical joint bearing (7-9) is a spherical sliding bearing capable of realizing multi-direction angular deflection movement, and is internally designed as a spherical contact pair, capable of realizing multi-direction angular deflection and compensating installation and movement errors.

7. The robotic gear shifting mechanical hand of the construction machine vehicle autonomous driving robot gear shifting type shifting mechanism according to claim 4, characterized by, The displacement trajectory equation of the lower rod five-link mechanism end is: ； wherein the intermediate function , in which, , , , , , , are known quantities, , are the coordinates of point P in the rectangular coordinate system established by the lower bar frame shaft (7-10). The displacement trajectory of the end of the bar at point P is determined only by the vertical displacement of the lower bar ball screw (5) ; wherein the length of the first active chain (7-2) is , the length of the short side of the L-shaped joint arm (7-3) is , the length of the long side is , the length of the long bar (7-4) is , and the length of the second active chain (7-5) is , is the horizontal and vertical distance between the lower bar electric cylinder (3) and the lower bar frame shaft (7-10).

8. A remote early warning monitoring system for the gear shifting robot of the automatic driving robot gear shifting robot of the engineering vehicle of any one of claims 1-7, characterized in that, The application relates to a remote monitoring and control system for a vehicle and a mechanical arm, and belongs to the field of vehicle and mechanical arm remote monitoring and control. The remote monitoring and sensing layer comprises a data acquisition module and a data fusion processing module, acquires information in real time through the data acquisition module, and transmits the information to the data fusion processing module for processing, The transmission layer is used for transmitting the information processed by the data fusion to a remote control center through a wireless communication module and a transceiving antenna, or sending control instructions of the remote control and early warning layer to a control module of the mechanical arm or a vehicle braking system. The remote control and early warning layer judges the information processed by the data fusion, divides early warning levels, makes prompt annotations and decisions, and sends the decision results to the control module of the mechanical arm or the vehicle braking system.

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