Transmission static gear selecting and shifting performance testing device and testing method thereof

Abstract

The invention relates to the technical field of transmission gear shifting testing, and discloses a transmission static gear selecting and shifting performance testing device and a testing method thereof.The transmission static gear selecting and shifting performance testing device comprises a gear selecting assembly, a gear shifting assembly, a detecting assembly and an adjusting assembly.The gear selecting assembly comprises a gear selecting mechanical arm and a first motor, and the gear selecting mechanical arm is fixedly connected with a rotating shaft of the first motor in a sleeving mode; the gear shifting assembly comprises a gear shifting mechanical arm and a second motor, the gear shifting mechanical arm comprises two connecting ends, one end of the gear shifting mechanical arm is fixedly connected with a rotating shaft of the second motor in a sleeved mode, and the other end of the gear shifting mechanical arm is fixedly connected with a gear shifting shaft in the transmission in a sleeved mode. The detection assembly comprises a first encoder, a second encoder, a first force sensor and a second force sensor, the first force sensor and the second force sensor are connected with the gear selecting mechanical arm and the gear shifting mechanical arm respectively, and the adjusting assembly comprises two adjusting seats which are connected with the gear selecting mechanical arm and the gear shifting mechanical arm respectively. The static gear selecting and shifting performance testing device is simple in structure, high in adaptability and low in cost, and comprehensive and objective static gear selecting and shifting performance results of the transmission can be obtained.

Description

Technical Field

[0001] This invention relates to the field of transmission shift testing technology, and in particular to a transmission static shift performance testing device and testing method. Background Technology

[0002] The static shifting performance of a transmission is an important aspect of evaluating its shifting quality. For mechanical manual transmissions (MT), it directly affects the customer's first impression. Mainstream mechanical automatic transmissions (AMT) are based on manual transmissions, with modifications made to the transmission housing to install actuators. Therefore, measuring the static shifting performance of a manual transmission is an important basis for the selection and parameter matching of AMT actuators.

[0003] For static shift performance testing of transmissions, when simulating the static shift performance testing of transmissions on a vehicle, the arrangement of shift cables is involved. Shift operations can be performed manually or by a robotic arm during the test, but the static shift performance of the transmission itself cannot be directly obtained.

[0004] When bench testing the static shifting performance of a transmission, the external operating mechanism and shift cable are eliminated, and the shifting action is directly performed on the internal shifting mechanism. Manually using tools such as force gauges and measuring tapes only yields the maximum shifting force and stroke during the shifting process, resulting in low measurement accuracy. Furthermore, real-time data on force and displacement during shifting cannot be collected, hindering the analysis and improvement of transmission shifting performance. Using mechanical devices can automate the shifting test process. Common mechanical drive methods include hydraulic and pneumatic drives. Hydraulic drives offer advantages such as smooth operation, wide speed range, and flexible mechanism layout, but they have higher maintenance costs. Pneumatic drives have a "buffering characteristic" that can simulate manual shifting, but they suffer from poor operational stability and significant noise. Summary of the Invention

[0006] This invention provides a static gear shifting performance testing device and method for a transmission. It has a simple structure, strong adaptability, and low cost, and can obtain relatively comprehensive and objective static gear shifting performance results for the transmission.

[0007] This invention provides a static gear selection and shifting performance testing device for a transmission, comprising: a gear selection component, a shifting component, a detection component, and an adjustment component. The gear selection component includes a gear selection robotic arm and a first motor. The gear selection robotic arm includes two connecting ends, one end of which is fixedly connected to the rotating shaft of the first motor, and the other end of which is fixedly connected to the gear selection shaft in the transmission, which is fitted with a gear selection inner shift lever. This is used to synchronously transmit rotational force with the same angular velocity as the rotating shaft to the gear selection shaft. As the gear selection shaft rotates, the gear selection inner shift lever uses the rotational force to drive the gear selection inner shift lever fitted on the shifting shaft to move left and right to achieve gear selection. The shifting component includes a shifting robotic arm and a second motor. The shifting robotic arm includes two connecting ends. The connection end is fixedly connected to the rotating shaft of the second motor at one end and to the shift shaft in the transmission at the other end. It is used to synchronously transmit the rotational force of the rotating shaft of the second motor at the same angular velocity to the shift shaft. As the shift shaft rotates, it drives the shift inner dial to rotate back and forth to realize shifting. The detection component includes a first encoder and a second encoder connected to the first motor and the second motor respectively, and a first force sensor and a second force sensor connected to the gear selection robot arm and the gear shifting robot arm respectively. The adjustment component includes two adjustment seats connected to the gear selection robot arm and the gear shifting robot arm respectively, which are used to drive the gear selection robot arm and the gear shifting robot arm to perform three-axis position adjustment.

[0008] Preferably, the gear selection robotic arm includes: a first swing arm, a second swing arm, and a gear selection linkage. The connecting end of the first swing arm is fixedly connected to the rotating shaft of the first motor, and the connecting end of the second swing arm is fixedly connected to the gear selection shaft. The first swing arm and the second swing arm are parallel to each other and have the same length. The gear selection linkage is horizontally arranged, and its two ends are respectively hinged to the first swing arm and the second swing arm. A first force sensor is connected to the gear selection linkage for measuring its tension and compression.

[0009] Preferably, the gear shifting robotic arm includes: a third swing arm, a fourth swing arm, and a gear shifting linkage. The connecting end of the third swing arm is fixedly connected to the rotating shaft of the second motor, and the connecting end of the fourth swing arm is fixedly connected to the gear shifting shaft. The third and fourth swing arms are parallel to each other and have the same length. The second force sensor is connected to the fourth swing arm. The gear shifting linkage is horizontally set, and its two ends are hinged to the third and fourth swing arms, respectively.

[0010] Preferably, the adjustment seat includes: a base, a truss, and three drive units. The upper part of the base has a first horizontally extending slide groove. The truss is connected to the first slide groove via a sliding plate. The sliding plate is slidably connected to the first slide groove. The upper part of the sliding plate has a second slide groove that is horizontal and perpendicular to the extension direction of the first slide groove. The truss has a third slide groove along the longitudinal direction. The third slide groove is slidably connected to a bracket for connecting and supporting the corresponding swing arm. The bracket is slidably connected to the third slide groove. The rotation shaft of the first motor extends longitudinally, and the rotation shaft of the second motor extends horizontally. The housings of the first motor and the second motor are respectively fixedly connected to the corresponding brackets. The three drive units are respectively used to drive the sliding plate to slide along the first slide groove, drive the truss to slide along the second slide groove, and drive the bracket to slide along the third slide groove.

[0011] Preferably, the drive unit includes a connecting block and a screw that passes through and is rotatably connected to the connecting block. The screw axis for driving the slide plate to slide along the first slide groove is parallel to the first slide groove, and the screw extends into the slide plate. The slide plate is threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the base. The screw for driving the truss to slide along the second slide groove is parallel to the second slide groove. The truss is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the slide plate. The screw for driving the bracket to slide along the third slide groove extends longitudinally. The bracket is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the truss.

[0012] Preferably, a first corrector is hinged to one side of the first swing arm, and the other end of the first corrector is detachably connected to the side wall of the gear selector linkage. When correcting the perpendicular relationship between the first swing arm and the gear selector linkage, the first corrector is rotated and connected to the gear selector linkage. A second corrector is hinged to one side of the third swing arm, and the second corrector is connected to the gear selector linkage to correct the perpendicular angle between the third swing arm and the gear selector linkage.

[0013] The present invention also provides a testing method for a static shift performance testing device for a transmission, comprising the following steps: Device setup and debugging: Connect the first swing arm to the rotating shaft of the first motor, and fix the end of the second swing arm connected to the gear selector linkage to the gear selector shaft of the transmission. Connect the third swing arm to the rotating shaft of the second motor, and fix the end of the fourth swing arm connected to the gear selector linkage to the gear selector shaft of the transmission. Use the first corrector to adjust the angle between the first swing arm and the gear selector linkage to 90°, and use the second corrector to adjust the angle between the third swing arm and the gear selector linkage to 90°. System initialization settings: The encoder angle is zeroed, the gear is set to neutral, and then the system controller records the initialized gear and encoder. Gear selection and shifting value settings: Set a set of control speed and force values ​​for the gear selection robot arm, and also set a set of control speed and force values ​​for the gear shifting robot arm; Gear selection operation: Control the rotation shaft of the first motor to rotate in sequence according to the test requirements. The rotation shaft drives the first swing arm to swing. The gear selection lever and the second swing arm drive the gear selection dial to rotate. Push the gear selection dial to move axially on the gear shift shaft at a constant speed to select the gear. Collect the gear selection force of the first force sensor and the angle data of the first encoder during the gear selection process. Obtain the maximum gear selection force: Calculate the gear selection displacement data based on the displacement calculation model, and then obtain the real-time gear selection force and displacement data at the gear selection lever during the gear selection process through lever ratio conversion. Plot the curve of gear selection force versus displacement, and read the maximum gear selection force at the gear selection lever based on the curve. Gear shifting operation: After selecting a gear, control the rotation of the second motor shaft to rotate in the order required by the test. The rotation shaft drives the third swing arm to swing. The shift linkage and the fourth swing arm drive the shift shaft and the shift inner dial to rotate to shift gears. To obtain the maximum shifting force: Collect the shifting force from the second force sensor and the angle data from the second encoder during the shifting process. Calculate the shifting displacement data based on the displacement calculation model. Then, obtain the real-time shifting force and displacement data at the shift lever during the shifting process through lever ratio conversion. Plot the curve of shifting force versus displacement. Read the maximum shifting force at the shift lever during the shifting process based on the curve.

[0014] Preferably, the following specific test steps are included: Static gear engagement and disengagement force tests were conducted: the gear was shifted from neutral along one direction of the y-axis, and then shifted back to neutral. The curves plotted after the shift were read, and the maximum gear engagement and disengagement force at the shift lever during the shift process were obtained. To determine the y-axis clearance: shift from neutral to one of the extreme gears in the y-axis direction, and then shift from neutral to the opposite extreme gear in the y-axis direction. Based on the curve drawn after the shift, read the displacement values ​​of the y-axis travel on both sides of the shift lever in neutral with a certain torque. The difference in displacement on both sides is the y-axis clearance of neutral. Test the maximum gear selection force and return force: Start from neutral and select the extreme gear along one of the x-axis directions, then return to neutral and select the other extreme gear along the x-axis direction, and finally return to neutral. Read the maximum gear selection force and maximum return force at the gear selector during the gear selection process based on the curve.

[0015] Preferably, the displacement calculation model is applicable to gear selection and shifting, wherein the displacement calculation model for the second swing arm during gear selection includes the following steps: Record the parameters of the first swing arm at the initial position: take the center point of the first motor as the origin (0,0) as the reference, and take the coordinates of the connection point between the first swing arm and the gear selection linkage. Calculation of the horizontal coordinate position parameter of the connection point between the first swing arm and the gear selection linkage after rotation: The rotation angle of the first swing arm is determined by the first encoder. After the first swing arm rotates, the x-coordinate of the connection point between it and the gear selector linkage is equal to the length of the first swing arm multiplied by the x-coordinate. ; The ordinate of the point where the first swing arm connects to the gear selector linkage after rotation = the length of the first swing arm * ; The displacement of the horizontal coordinate of the connection point between the second swing arm and the gear selector linkage after rotation = the horizontal coordinate of the connection point between the first swing arm and the gear selector linkage after rotation - the length of the gear selector linkage.

[0016] Preferably, the gear selection lever ratio = second swing arm length / gear selection inner shift lever length, and the shift lever ratio = fourth swing arm length / shift inner shift lever length.

[0017] Compared with existing technologies, the advantages of this invention are as follows: This invention has a simple structure, strong adaptability, and low cost. It can obtain relatively comprehensive and objective static gear shifting performance results of the transmission. Specifically, compared with existing testing devices, it not only achieves efficient and rapid testing, but the device itself is also lighter and more convenient than the complex installation and setup of existing gear shifting cables and the entire vehicle. This device can utilize the first motor and gear shifting robotic arm, as well as the second motor and gear shifting robotic arm, in conjunction with the detection components to achieve high-precision testing of data such as force and distance. Furthermore, the movement of the components through this device provides a direct and intuitive understanding of the transmission's performance. This test device reflects the force and stroke vector conversion relationship of the gear selection and shifting internal shift levers during gear selection and shifting, which is more conducive to subsequent analysis of gear selection and shifting performance. Moreover, this test device can be used to conduct static gear selection and shifting performance and reliability verification tests of the transmission. It has the advantages of simple structure and principle, simple installation, good consistency and strong matching. Based on this test device, a bench test method and standard for static gear selection and shifting performance are proposed, which can obtain relatively comprehensive and detailed objective data on gear selection and shifting of the transmission. This provides data support for the subjective evaluation of product gear selection and shifting, thereby providing suggestions for product improvement and enhancing the company's product competitiveness.

[0018] Specifically, the rotation shaft of the first motor is controlled to rotate, which in turn drives the first swing arm to swing. The shift lever and the second swing arm then rotate the shift dial, pushing it axially along the shift shaft at a constant speed to select the gear. After gear selection, the rotation shaft of the second motor is controlled to rotate according to the test requirements. This rotation shaft drives the third swing arm to swing, and the shift lever and the fourth swing arm then rotate the shift shaft and the shift dial to change gears. During this process, the first and second encoders accurately record the rotation angles of the first and second motors, respectively, and the first and second force sensors accurately measure the force, laying the foundation for subsequent testing. The system is based on an adjustable seat that connects and supports the gear-selecting robotic arm and the first motor. It also allows for fine-tuning of the positions of the first motor and the gear-selecting robotic arm in multiple directions, such as the x, y, and z axes, to precisely meet the gear-selection requirements of different types of transmissions, thus improving adaptability. The other adjustable seat has the same effect on the gear-shifting robotic arm and the second motor. The first motor's rotation axis extends longitudinally, connecting with the gear-selecting robotic arm to the longitudinally positioned gear-selection shaft of a traditional transmission. The second motor's rotation axis extends horizontally, connecting with the gear-shifting robotic arm to the transversely positioned gear-shifting shaft of a traditional transmission. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural schematic diagram of a static gear shifting performance testing device for a transmission provided in an embodiment of the present invention; Figure 2 A top-view structural diagram of a static gear shifting performance testing device for a transmission provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the gear selection robotic arm in a transmission static gear selection and shifting performance testing device provided in an embodiment of the present invention; Figure 4 for Figure 3 A top-down structural diagram; Figure 5 This is a schematic diagram of the first corrector setting state in a transmission static shift performance testing device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the shifting robotic arm in a static shifting performance testing device for a transmission provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the setting state of the second corrector in a transmission static shift performance testing device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the connection structure between a static gear shifting performance testing device for a transmission and transmission components, provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of the connection structure between a static gear shifting performance testing device for a transmission and transmission components, provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of an adjusting seat structure for supporting the shifting mechanical arm in a static shifting performance testing device for a transmission provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of an adjusting seat structure for supporting the gear selection robotic arm in a static gear selection and shifting performance testing device for a transmission provided in an embodiment of the present invention; Figure 12 A schematic diagram illustrating the testing principle of a static gear shifting performance testing device and method for a transmission provided in an embodiment of the present invention; Figure 13 A displacement calculation model diagram of a static gear shifting performance testing device and testing method for a transmission provided in an embodiment of the present invention; Figure 14 A gear position diagram of a 6-speed transmission to which a static shift performance testing device and method for a transmission is applied in an embodiment of the present invention; Figure 15 A diagram showing the force and displacement curves of the third gear in a static gear shifting performance testing device and method for a transmission provided in this embodiment of the invention. Figure 16 The transmission static shift performance testing device and testing method provided in this embodiment of the invention are shown in the 3rd to 4th gear force and displacement curves. Figure 17 A transmission static shift performance testing device and testing method provided in this embodiment of the invention, showing the shift force versus displacement curve; Figure 18 A schematic diagram of the 3rd gear X-direction clearance curve of a transmission static shifting performance testing device and testing method provided in an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Gear selection assembly; 11. Gear selection robotic arm; 111. First swing arm; 112. Second swing arm; 113. Gear selection linkage; 13. Gear selection shaft; 14. Gear selection inner shifter; 2. Gear shifting assembly; 21. Gear shifting robotic arm; 211. Third swing arm; 212. Fourth swing arm; 213. Gear shifting linkage; 23. Gear shifting shaft; 24. Gear shifting inner shifter; 3. Detection assembly; 31. First force sensor; 32. Second force sensor; 4. Adjustment assembly; 41. Adjustment seat; 411. Base; 412. Truss; 413. Slide plate; 414. Bracket; 415. Drive unit; 5. First corrector; 6. Second corrector. Detailed Implementation

[0022] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not 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.

[0024] refer to Figure 1 , Figure 2 This invention provides a static gear selection and shifting performance testing device for a transmission, comprising: a gear selection component 1, a shifting component 2, a detection component 3, and an adjustment component 4, such as... Figure 3 and Figure 4 As shown, the gear selection assembly 1 includes a gear selection robotic arm 11 and a first motor. The gear selection robotic arm 11 includes two connecting ends, one of which is fixedly connected to the rotating shaft of the first motor. Figure 8 As shown, its other end is fixedly connected to the gear selector shaft 13, which is fitted with a gear selector inner shift lever 14 in the transmission. This is used to synchronously transmit the rotational force with the same angular velocity as the rotating shaft to the gear selector shaft 13. As the gear selector shaft 13 rotates, the gear selector inner shift lever 14 uses the rotational force to drive the gear selector inner shift lever 24, which is fitted on the gear selector shaft 23, to move left and right to achieve gear selection. Figure 1 and Figure 6 As shown, the gear shifting assembly 2 includes a gear shifting robotic arm 21 and a second motor. The gear shifting robotic arm 21 includes two connecting ends, one of which is fixedly connected to the rotating shaft of the second motor. Figure 1 and Figure 9 As shown, its other end is sleeved and fixedly connected to the shift shaft 23 in the transmission, which is used to synchronously transmit the rotational force of the second motor rotating shaft at the same angular velocity to the shift shaft 23. As the shift shaft 23 rotates, it drives the shift inner dial 24 to rotate back and forth to realize shifting. The detection component 3 includes a first encoder and a second encoder connected to the first motor and the second motor respectively, a first force sensor 31 and a second force sensor 32 connected to the gear selection robot arm 11 and the shift robot arm 21 respectively. The adjustment component 4 includes two adjustment seats 41, which are connected to the gear selection robot arm 11 and the shift robot arm 21 respectively, and are used to drive the gear selection robot arm 11 and the shift robot arm 21 to perform three-axis position adjustment.

[0025] In the above embodiments, the present invention has a simple structure, strong adaptability, and low cost, and can obtain relatively comprehensive and objective static gear selection and shifting performance results of the transmission. Specifically, compared with existing testing devices, it can not only achieve efficient and rapid testing, but also the device itself is more lightweight and convenient than the complex installation and scene arrangement of existing gear selection and shifting cables and the whole vehicle. This device can use the first motor and gear selection robotic arm 11 and the second motor and shifting robotic arm 21 to cooperate with the detection component 3 to achieve high-precision testing of data such as force and distance. Moreover, the application of this device can intuitively reflect the gear selection through the movement of the components. The conversion relationship between the force and stroke vector of the gear selection inner lever 14 and the shift inner lever 24 in the gear shifting process is more conducive to the subsequent analysis of the gear shifting performance of the transmission. Moreover, this test device can be used to conduct static gear shifting performance and reliability verification tests of the transmission. It has the advantages of simple structure and principle, simple installation, good consistency and strong matching. Based on this test device, a bench test method and standard for static gear shifting performance are proposed, which can obtain relatively comprehensive and detailed objective data on the gear shifting of the transmission. This provides data support for the subjective evaluation of the product's gear shifting, thereby providing suggestions for product improvement and enhancing the company's product competitiveness.

[0026] Specifically, the rotation shaft of the first motor is controlled to rotate, which drives the first swing arm 111 to swing. The gear selection lever 113 and the second swing arm 112 then drive the gear selection dial 14 to rotate, uniformly pushing the gear selection dial 24 to move axially relative to the gear shift shaft 23 for gear selection. After gear selection, the rotation shaft of the second motor is controlled to rotate according to the test requirements. This drives the third swing arm 211 to swing. The gear shift lever 213 and the fourth swing arm 212 then drive the gear shift shaft 23 and the gear selection dial 24 to rotate for gear shifting. During this process, the first encoder and the second encoder accurately record the rotation angles of the first and second motors, respectively. The first force sensor 31 and the second force sensor 32 accurately test the force, providing data for subsequent... The testing laid the foundation. The adjustable seat 41 can connect and support the gear selection robot arm 11 and the first motor. It can also make fine adjustments to the positions of the first motor and the gear selection robot arm 11 in multiple directions such as the x-axis, y-axis and z-axis to accurately meet the gear selection connection of different types of transmissions and improve adaptability. The other adjustable seat 41 has the same effect on the gear shifting robot arm 21 and the second motor. The rotation axis of the first motor extends longitudinally and works with the gear selection robot arm 11 to connect with the gear selection shaft 13 that is set longitudinally in the traditional transmission. The rotation axis of the second motor extends horizontally and works with the gear shifting robot arm 21 to connect with the gear shifting shaft 23 that is set laterally in the traditional transmission.

[0027] Further, refer to Figure 3 , Figure 4 and Figure 5The gear selection robotic arm 11 includes a first swing arm 111, a second swing arm 112, and a gear selection link 113. The connecting end of the first swing arm 111 is sleeved and fixedly connected to the rotating shaft of the first motor. The connecting end of the second swing arm 112 is sleeved and fixedly connected to the gear selection shaft 13. The first swing arm 111 and the second swing arm 112 are parallel to each other and have the same length. The gear selection link 113 is horizontally arranged, and its two ends are respectively hinged to the first swing arm 111 and the second swing arm 112. The first force sensor 31 is connected to the gear selection link 113 and is used to measure its tension and compression.

[0028] In the above embodiments, the first force sensor 31 is connected to the middle of the gear selection linkage 113. The first force sensor 31 connected to the gear selection robotic arm 11 is an S-type force sensor used to measure tension and compression. The second force sensor 32 connected to the gear shifting robotic arm 21 is a bellows-type weighing sensor.

[0029] Further, refer to Figure 6 and Figure 7 The shifting robotic arm 21 includes a third swing arm 211, a fourth swing arm 212, and a shifting link 213. The connecting end of the third swing arm 211 is sleeved and fixedly connected to the rotating shaft of the second motor. The connecting end of the fourth swing arm 212 is sleeved and fixedly connected to the shifting shaft 23. The third swing arm 211 and the fourth swing arm 212 are parallel to each other and have the same length. The second force sensor 32 is connected to the fourth swing arm 212. The shifting link 213 is horizontally arranged, and its two ends are respectively hinged to the third swing arm 211 and the fourth swing arm 212.

[0030] Further, refer to Figure 1 , Figure 10 and Figure 11 The adjusting seat 41 includes a base 411, a truss 412, and three drive units 415. The upper part of the base 411 has a first horizontally extending slide groove. The truss 412 is connected to the first slide groove via a sliding plate 413. The sliding plate 413 is slidably connected to the first slide groove. The upper part of the sliding plate 413 has a second slide groove that is horizontal and perpendicular to the extension direction of the first slide groove. The truss 412 has a third slide groove along the longitudinal direction. The third slide groove is slidably connected to a bracket 414 for connecting and supporting the corresponding swing arm. The bracket 414 is slidably connected to the third slide groove. The rotating shaft of the first motor extends longitudinally, and the rotating shaft of the second motor extends horizontally. The housings of the first motor and the second motor are respectively fixed to the corresponding brackets 414. The three drive units 415 are respectively used to drive the sliding plate 413 to slide along the first slide groove, drive the truss 412 to slide along the second slide groove, and drive the bracket 414 to slide along the third slide groove.

[0031] In the above embodiments, the adjustment seat 41 in this device can achieve fine-tuning of the position of the first motor / gear selection robot arm 11 or the second motor / gear shifting robot arm 21 in multiple directions such as the x-axis, y-axis and z-axis, so as to accurately meet the gear selection and shifting connection of different types of transmissions and improve adaptability.

[0032] Further, refer to Figure 10 and Figure 11 The drive unit 415 includes a connecting block and a screw that passes through and is threadedly connected to the connecting block. The screw axis for driving the slide plate 413 to slide along the first slide groove is parallel to the first slide groove, and the screw extends into the slide plate 413 and the two are connected. The corresponding connecting block is fixedly connected to the base 411. The screw for driving the truss 412 to slide along the second slide groove is parallel to the second slide groove, and the screw is connected to the slide plate 413. The corresponding connecting block is fixedly connected to the base 411. The screw for driving the bracket 414 to slide along the third slide groove extends longitudinally and the screw is connected to the bracket 414.

[0033] The drive unit 415 includes a connecting block and a screw that passes through and is rotatably connected to the connecting block. The screw axis for driving the slide plate 413 to slide along the first slide groove is parallel to the first slide groove, and the screw extends into the slide plate 413. The slide plate 413 is threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the base 411. The screw for driving the truss 412 to slide along the second slide groove is parallel to the second slide groove, and the truss 412 is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the slide plate 413. The screw for driving the bracket 414 to slide along the third slide groove extends longitudinally, and the bracket 414 is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the truss 412. In the above embodiments, during adjustment, by rotating the corresponding screw, the screw will rotate along the corresponding connecting block, thereby driving the corresponding nut and the equipment to move. When it is necessary to drive the truss 412 to slide along the first slide groove, that is, by rotating the corresponding screw, the helical rotation of the screw and the corresponding nut will provide the truss 412 to slide along the direction of the first slide groove.

[0034] Further, refer to Figure 5 and Figure 7 A first corrector 5 is hinged to one side of the first swing arm 111. The other end of the first corrector 5 is detachably connected to the side wall of the gear selection link 113. When correcting the perpendicular relationship between the first swing arm 111 and the gear selection link 113, the first corrector 5 is rotated and connected to the gear selection link 113. A second corrector 6 is hinged to one side of the third swing arm 211. The second corrector 6 is connected to the gear shift link 213 to correct the perpendicular angle between the third swing arm 211 and the gear shift link 213.

[0035] In the above embodiments, the purpose of the first corrector 5 and the second corrector 6 in this device is to facilitate the reset of the position of the first swing arm 111 or the third swing arm 211 during subsequent testing, so that the first swing arm 111 is parallel to the second swing arm 112 and the third swing arm 211 is parallel to the fourth swing arm 212.

[0036] refer to Figure 1 , Figure 2 as well as Figure 12 The present invention also provides a testing method for a static gear shifting performance testing device for a transmission, comprising the following steps: Device setup and debugging: Connect the first swing arm 111 to the rotating shaft of the first motor, and fix the end of the second swing arm 112 connected to the gear selection link 113 to the gear selection shaft 13 of the transmission. Connect the third swing arm 211 to the rotating shaft of the second motor, and fix the end of the fourth swing arm 212 connected to the gear selection link 213 to the gear selection shaft 13 of the transmission. Use the first corrector 5 to adjust the angle between the first swing arm 111 and the gear selection link 113 to 90°, and use the second corrector 6 to adjust the angle between the third swing arm 211 and the gear selection link 213 to 90°. System initialization settings: The encoder angle is zeroed, the gear is set to neutral, and then the system controller records the initialized gear and encoder. Gear selection and shifting value settings: Set a set of control speed and force values ​​for gear selection robotic arm 11, and also set a set of control speed and force values ​​for shifting robotic arm 21; Gear selection operation: Control the rotation shaft of the first motor to rotate in sequence according to the test requirements. The rotation shaft drives the first swing arm 111 to swing. The gear selection linkage 113 and the second swing arm 112 drive the gear selection inner dial 14 to rotate. The gear selection is selected by uniformly pushing the gear shift inner dial 24 to move axially relative to the shift shaft 23. The gear selection force of the first force sensor 31 and the angle data of the first encoder are collected during the gear selection process. Obtain the maximum gear selection force: Calculate the gear selection displacement data according to the displacement calculation model, and then obtain the real-time gear selection force and displacement data at the gear selection inner shifter 14 during the gear selection process through lever ratio conversion, and plot the curve of gear selection force versus displacement, and read the maximum gear selection force at the gear selection inner shifter 14 according to the curve; Gear shifting operation: After selecting a gear, control the rotation shaft of the second motor to rotate in the order required by the test. The rotation shaft drives the third swing arm 211 to swing. Use the shift linkage 213 and the fourth swing arm 212 to drive the shift shaft 23 and the shift inner dial 24 to rotate to shift gears. To obtain the maximum shifting force: Collect the selection force of the second force sensor 32 and the angle data of the second encoder during the shifting process, calculate the shifting displacement data according to the displacement calculation model, and then obtain the real-time shifting force and displacement data at the shifting inner lever 24 during the shifting process through lever ratio conversion, and plot the curve of shifting force versus displacement, and read the maximum shifting force at the shifting inner lever 24 during the shifting process according to the curve.

[0037] Further, refer to Figure 14 The gear selection lever ratio = length of the second swing arm 112 / length of the inner gear selection lever 14; the shift lever ratio = length of the fourth swing arm 212 / length of the inner shift lever 24. This embodiment uses a conventional 6-speed transmission as an example. Before the test, the control speed and force of the gear selection mechanical arm 11 / shift mechanical arm 21 are set. In this embodiment, the speed is set to 20 deg / s, and the force is 100 N. The speed setting is adjusted according to the rigidity of the transmission's gear selection and shifting mechanism. When the rigidity is high, the speed setting is reduced to decrease force fluctuations during gear selection and shifting, thus reducing the impact on control accuracy. The specific test steps include the following: 1) Static gear engagement and disengagement force tests: Starting in neutral (N), shift gears along one direction of the y-axis, then shift back to neutral. Read the curves plotted after the shifts and obtain the maximum engagement and disengagement forces at the shift lever 24 during the shifting process. Specifically, shift from neutral to 3rd gear and then back to neutral, testing in the sequence of neutral-3rd gear-neutral. Collect shifting force and angle data during the shifting process. Calculate the shifting displacement data using a displacement calculation model. Using the lever ratio (e.g., the fourth swing arm 212 is 300mm long, and the shift lever 24 is 49mm long, the lever ratio = 300 / 49), obtain the real-time shifting force and displacement data at the shift lever 24 during the shifting process. Figure 15 As shown, plot the shift force versus time curve. Based on the curve, read the maximum engagement force and maximum disengagement force at shift lever 24 during the shift process. Repeat the above process to complete the static engagement and disengagement force test for 4th gear. Specifically, A is the maximum engagement force, A to B is the engagement intake section, C to D is the in-gear stiffness section, E is the maximum disengagement force, and E to F is the disengagement intake section. 2) Perform y-direction clearance and gear shift travel test: Shift from neutral to one of the extreme gears in the y-direction, then shift from neutral to the opposite extreme gear in the y-direction. Based on the curve plotted after the shift, read the displacement values ​​of the y-direction travel at point 24 of the neutral shift lever with a certain torque. The difference in displacement between the two sides is the y-direction clearance of neutral. Specifically, measure the static shift data between 3rd and 4th gears as described in step 1), plot the shift force versus displacement curve, and based on the curve, read the displacement values ​​of the y-direction travel at point 24 of the neutral shift lever with a certain torque (1.5 Nm in this embodiment). The difference in displacement between the two sides is the y-direction clearance of neutral. Figure 16As shown, according to the shifting force and displacement curve in step 1), the shifting displacement values ​​of 3rd and 4th gears are read with a certain torque, and the displacement difference between the shifting force and the middle position of N gear is the shifting stroke of the gear. 3) 3rd or 4th gear y-direction clearance test: According to the curve in step 1), read the displacement values ​​of the y-direction on both sides (outward and return strokes) of the 3rd and 4th gears with a certain torque (take 1.5Nm). The difference in displacement on both sides is the y-direction clearance of the gear. 4) Test the maximum gear selection force and return force: Starting from neutral, select a gear at one of the extreme gear positions along the x-axis, then return to neutral and select a gear in the other extreme gear position along the x-axis, finally returning to neutral. Read the maximum gear selection force and maximum return force at the gear selector 14 according to the curve. Specifically, test in the order of N gear → 5 / 6 gear selection extreme position → N gear → R gear selection extreme position → N gear. Collect the gear selection force and angle data during the gear selection process. Calculate the gear selection displacement data according to the displacement calculation model. Use the lever ratio (in this embodiment, the length of the second swing arm 112 is 100mm, and the length of the gear selector 14 is 50mm, so the lever ratio is 100 / 50) to obtain the real-time gear selection force and displacement data at the gear selector 14 during the gear selection process. Figure 17 As shown, the curve of gear selection force versus displacement can be plotted, and the maximum gear selection force and maximum return force at the gear selector 14 during the gear shifting process can be read from the curve. 5) Gear selection stroke and neutral x-direction clearance test: According to the gear selection force and displacement curve in step 4), read the gear selection stroke and neutral x-direction clearance at the gear selector 14. The stroke and clearance are read with a certain torque (e.g., 1.2 Nm). The reading method is similar to that of the gear engagement stroke and neutral y-direction clearance shown in step 2). 6) Gear position x-axis clearance test: In the gear position, the first swing arm 111 drives the second swing arm 112 at a constant speed with a certain torque to select the gear. Gear selection force and angle data are collected. Gear selection displacement data is calculated based on the displacement calculation model. Real-time gear selection force and displacement data at the inner gear selector 14 are obtained through lever ratio conversion. Figure 18 As shown, a curve of gear selection force versus displacement can be plotted. Based on the curve, the displacement values ​​on both sides of the gear in the x direction are read with a certain torque (e.g., 1.2 Nm). The displacement difference is used as the gear x direction clearance at the gear selector inner dial 14. 7) Testing of shifting / disengaging gear intake stiffness and stroke, shifting / disengaging gear intake stiffness, effective shifting / disengaging gear intake force and effective intake stroke: Based on the shifting force and displacement curve in step 1), take the shifting / disengaging gear intake segment (take the segment where the maximum shifting / disengaging force drops to zero or a certain stable value) and fit a straight line using the least squares method (the existing conventional linear fitting method). The displacement difference of the intake stiffness segment is taken as the shifting / disengaging gear intake stroke, the slope of the straight line is taken as the shifting / disengaging gear intake stiffness, the average value of the reverse intake force in a relatively stable segment of shifting / disengaging gear is taken as the effective shifting / disengaging gear intake force, and the displacement difference of the effective intake force segment is taken as the effective intake stroke. 8) Gear shift stiffness test: Based on the curve in step 1), fit a straight line to the curve of gear shifting force and displacement stiffness segment (take a segment from the gear shifting stroke point to the displacement point of a certain torque (15Nm)) using the least squares method, and use the slope of the straight line as the gear shift stiffness.

[0038] Further, refer to Figure 13 The displacement calculation model is applicable to gear selection and shifting. The displacement calculation model for the second swing arm 112 during the gear selection process includes the following steps: Record the parameters of the first swing arm 111 at the initial position: take the center point of the first motor as the origin (0,0) as the reference, and take the coordinates of the connection point between the first swing arm 111 and the gear selection linkage 113; Calculation of the horizontal coordinate position parameter of the connection point between the first swing arm 111 and the gear selection linkage 113 after rotation: The rotation angle of the first swing arm 111 is determined by the first encoder. After the first swing arm 111 rotates, the x-coordinate of the connection point between it and the gear selector linkage 113 is equal to the length of the first swing arm 111 * 1 / 2. ; The ordinate of the connection point between the first swing arm 111 and the gear selector linkage 113 after rotation = the length of the first swing arm 111 * ; The horizontal displacement of the connection point between the second swing arm 112 and the gear selector linkage 113 after rotation = the horizontal coordinate of the connection point between the first swing arm 111 and the gear selector linkage 113 after rotation - the length of the gear selector linkage 113.

[0039] In the above embodiments, the x-axis displacement of point B of the robotic arm is further calculated based on the servo motor encoder angle, and the x-axis displacement of point C is then obtained. The displacement calculation model is as follows: 1) Track the L5 of the robotic arm and the angle of the encoder. Find the x-coordinate and displacement of point B, i.e., the x0 and y0 of point B'. x0=L5* ; y0= L5* ; 2) Find the intersection point of the circles, that is, the x and y coordinates of point C', the intersection point of the connecting rod L7 circle and the outer shift test rocker arm L6; 3) Calculate the x-displacement of point C on the external shift test rocker arm. This displacement value is equal to the x-coordinate of the intersection point C' minus the length of L7. When L6 and L5 are equal, the x-displacement of point C on the external shift test rocker arm is equal to x0.

[0040] This embodiment provides a specific calculation process: 1) Track the L5 of the robotic arm and the angle of the encoder. When L5 is 300mm, find the x and displacement of point B, that is, the x0 and y0 of point B'. x0=300* ; y0=300* ; 2) Find the intersection point of the circles. That is, the x and y coordinates of point C', the intersection point of the circle of connecting rod L7 and L6. The length of L6 is 300mm, and the length of L7 is 670mm.

[0041] x=300* at intersection point C' +670; The y-value of the intersection point C' is 300* ; 3) Calculate the x-displacement of point C on the external shift test rocker arm. This displacement value is equal to the x-coordinate of the intersection point C' minus the length of L7.

[0042] The x-displacement of point C = 300* ; refer to Figure 12 Shift force measurement principle: First force sensor 31 or second force sensor 32 - signal amplifier - controller AD conversion - computer DA conversion - display; Selection angle measurement principle: First encoder or second encoder - first motor drive or second motor drive - controller - computer displacement calculation - display.

[0043] In the above embodiments, the computer software system uses a dialog-based approach to set test conditions, collect and process data, and monitor abnormal states. It has the following functions: a login module, transmission parameter definition and selection, gear teaching function, displacement calculation function, automatic / manual test operation function, historical data display, export and analysis function, and anomaly monitoring.

[0044] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A transmission static shift quality test device, characterized by, include: The gear selection assembly includes a gear selection robotic arm and a first motor. The gear selection robotic arm has two connecting ends, one end of which is fixedly connected to the rotating shaft of the first motor, and the other end of which is fixedly connected to the gear selection shaft in the transmission, which is fitted with a gear selection inner shifter. The assembly is used to synchronously transmit the rotational force of the rotating shaft at the same angular velocity to the gear selection shaft. As the gear selection shaft rotates, the gear selection inner shifter uses the rotational force to drive the gear selection inner shifter fitted on the gear selection shaft to move left and right to achieve gear selection. The shift assembly includes a shift robotic arm and a second motor. The shift robotic arm has two connecting ends, one end of which is sleeved and fixedly connected to the rotating shaft of the second motor, and the other end of which is sleeved and fixedly connected to the shift shaft in the transmission. It is used to synchronously transmit the rotational force of the rotating shaft of the second motor at the same angular velocity to the shift shaft. As the shift shaft rotates, it drives the shift inner paddle to rotate back and forth to achieve shifting. The detection component includes a first encoder and a second encoder connected to a first motor and a second motor respectively, and a first force sensor and a second force sensor connected to a gear selection robot arm and a gear shifting robot arm respectively; The adjustment assembly includes two adjustment seats, which are respectively connected to the gear selection robot arm and the gear shifting robot arm, and are used to drive the gear selection robot arm and the gear shifting robot arm to perform three-axis position adjustment.

2. The transmission static shift performance testing device as described in claim 1, characterized in that, The gear selection robotic arm includes: The first swing arm has its connecting end fixedly connected to the rotating shaft of the first motor; The second swing arm has its connecting end fixedly connected to the gear selection shaft. The first swing arm and the second swing arm are parallel to each other and have the same length. The gear selection linkage is horizontally positioned, with its two ends hinged to the first swing arm and the second swing arm, respectively. The first force sensor is connected to the gear selection linkage to measure its tension and compression.

3. The transmission static shifting performance testing device as described in claim 2, characterized in that, The gear-shifting robotic arm includes: The third swing arm has its connecting end fixedly connected to the rotating shaft of the second motor; The fourth swing arm has its connecting end sleeved and fixedly connected to the shift shaft. The third and fourth swing arms are parallel to each other and have the same length. The second force sensor is connected to the fourth swing arm. The shift linkage is horizontally positioned, with its two ends hinged to the third and fourth swing arms, respectively.

4. The transmission static shift performance testing device as described in claim 3, characterized in that, The adjusting seat includes: The base has a first horizontally extending groove on its upper part; The truss is connected to the first slide groove via a sliding plate. The sliding plate is slidably connected to the first slide groove. The upper part of the sliding plate has a second slide groove that is horizontal and perpendicular to the extension direction of the first slide groove. The truss has a third slide groove along its longitudinal direction. The third slide groove is slidably connected to a bracket for connecting and supporting the corresponding swing arm. The bracket is slidably connected to the third slide groove. The rotation shaft of the first motor extends longitudinally, and the rotation shaft of the second motor extends horizontally. The housings of the first motor and the second motor are respectively fixedly connected to the corresponding brackets. The three drive units are used to drive the slide plate to slide along the first slide groove, drive the truss to slide along the second slide groove, and drive the support to slide along the third slide groove, respectively.

5. The transmission static shift performance testing device as described in claim 4, characterized in that, The driving unit includes a connecting block and a screw that passes through and is rotatably connected to the connecting block. The screw axis for driving the slide plate to slide along the first slide groove is parallel to the first slide groove, and the screw extends into the slide plate. The slide plate is threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the base. The screw for driving the truss to slide along the second slide groove is parallel to the second slide groove. The truss is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the slide plate. The screw for driving the bracket to slide along the third slide groove extends longitudinally. The bracket is also threadedly connected to the screw via a nut. The corresponding connecting block is fixedly connected to the truss.

6. The transmission static shift performance testing device as described in claim 3, characterized in that, A first corrector is hinged to one side of the first swing arm, and the other end of the first corrector is detachably connected to the side wall of the gear selector linkage. When correcting the perpendicular relationship between the first swing arm and the gear selector linkage, the first corrector is rotated and connected to the gear selector linkage. A second corrector is hinged to one side of the third swing arm, and the second corrector is connected to the gear selector linkage to correct the perpendicular angle between the third swing arm and the gear selector linkage.

7. A test method for a transmission static shift performance testing device as described in claim 6, characterized in that, Includes the following steps: Gear selection operation: Control the rotation shaft of the first motor to rotate in sequence according to the test requirements. The rotation shaft drives the first swing arm to swing. The gear selection lever and the second swing arm drive the gear selection dial to rotate. Push the gear selection dial to move axially on the gear shift shaft at a constant speed to select the gear. Collect the gear selection force of the first force sensor and the angle data of the first encoder during the gear selection process. Obtain the maximum gear selection force: Calculate the gear selection displacement data based on the displacement calculation model, and then obtain the real-time gear selection force and displacement data at the gear selection lever during the gear selection process through lever ratio conversion. Plot the curve of gear selection force versus displacement, and read the maximum gear selection force at the gear selection lever based on the curve. Gear shifting operation: After selecting a gear, control the rotation of the second motor shaft to drive the third swing arm to swing in sequence according to the test requirements, thereby driving the shift shaft and the shift inner dial to rotate to shift gears; To obtain the maximum shifting force: Collect the shifting force from the second force sensor and the angle data from the second encoder during the shifting process. Calculate the gear selection displacement data based on the displacement calculation model. Then, obtain the real-time shifting force and displacement data at the shift lever during the shifting process through lever ratio conversion. Plot the curve of shifting force versus displacement. Read the maximum shifting force at the shift lever during the shifting process based on the curve.

8. The transmission static shift performance testing device and method as described in claim 7, characterized in that, The specific test steps include the following: Static gear engagement and disengagement force tests were conducted: the gear was shifted from neutral along one direction of the y-axis, and then shifted back to neutral. The curves plotted after the shift were read, and the maximum gear engagement and disengagement force at the shift lever during the shift process were obtained. To determine the y-axis clearance: shift from neutral to one of the extreme gears in the y-axis direction, and then shift from neutral to the opposite extreme gear in the y-axis direction. Based on the curve drawn after the shift, read the displacement values ​​of the y-axis travel on both sides of the shift lever in neutral with a certain torque. The difference in displacement on both sides is the y-axis clearance of neutral. Test the maximum gear selection force and return force: Start from neutral and select the extreme gear along one of the x-axis directions, then return to neutral and select the other extreme gear along the x-axis direction, and finally return to neutral. Read the maximum gear selection force and maximum return force at the gear selector during the gear selection process based on the curve.

9. The transmission static shift performance testing device and method as described in claim 8, characterized in that, The displacement calculation model is applicable to gear selection and shifting. The displacement calculation method for the second swing arm during gear selection includes the following steps: Record the parameters of the first swing arm at the initial position: take the center point of the first motor as the origin (0,0) as the reference, and take the coordinates of the connection point between the first swing arm and the gear selection linkage. Calculation of the horizontal coordinate position parameter of the connection point between the first swing arm and the gear selection linkage after rotation: The rotation angle of the first swing arm is determined by the first encoder. After the first swing arm rotates, the x-coordinate of the connection point between it and the gear selector linkage is equal to the length of the first swing arm multiplied by the x-coordinate. ; The ordinate of the point where the first swing arm connects to the gear selector linkage after rotation = the length of the first swing arm * ; The displacement of the horizontal coordinate of the connection point between the second swing arm and the gear selector linkage after rotation = the horizontal coordinate of the connection point between the first swing arm and the gear selector linkage after rotation - the length of the gear selector linkage.

10. The transmission static shift performance testing device and method as described in claim 9, characterized in that, The gear selection lever ratio = the length of the second control arm / the length of the inner gear selector; the shift lever ratio = the length of the fourth control arm / the length of the inner shifter.

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