Transmission test robot with automatic gear shifting function

Abstract

The invention relates to the field of automobile performance testing, and provides a transmission test robot with an automatic gear shifting function, which comprises a foundation bottom plate, and a first support plate and a second support plate are oppositely arranged on the foundation bottom plate; the movement decoupling cylinder is composed of a gear engaging elbow, a guide rod, a gear shifting arm and the movement decoupling cylinder through the arrangement of a parallelogram connecting rod mechanism, the movable supporting point device and other structures, and the core of the movement decoupling cylinder is that the movable supporting point device can drive a lead screw through a motor to actively adjust the position of a hinge point of the gear shifting arm on the gear engaging elbow; the adjustment directly changes the effective rod length proportion of the whole four-rod mechanism, so that the radius of the motion arc of the tail end sleeve device is accurately adjusted without replacing any hardware, flexible and rapid adaptation of gear shifting strokes of transmissions of different models is realized, the universality and the test efficiency of equipment are remarkably improved, and the test cost is reduced. The problems of insufficient universality and strong interference in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of automotive performance testing, and more specifically, to a robot for testing transmissions with automatic shifting function. Background Technology

[0002] Currently, in the field of automotive R&D and quality control, transmission shifting performance is one of the core evaluation indicators, directly affecting the vehicle's driving experience, reliability, and safety. Therefore, before a transmission is installed in a vehicle, its shifting force, shifting smoothness, and lifespan must be automatically tested on a test bench. Traditional testing methods rely on manual operation or semi-automatic equipment, which have inherent drawbacks such as low testing efficiency, insufficient accuracy, and poor operational consistency, failing to meet the quality control requirements of modern, high-paced production lines.

[0003] Currently, to replace manual labor, automated gear shifting testing robots in the industry are mainly divided into two categories: direct-drive robotic arms that simulate gear selection / shifting actions through independent wiring devices, and gear shift levers held by general-purpose industrial robots. However, these existing solutions still have significant bottlenecks: First, motion simulation is distorted and lacks versatility. The preset rigid trajectory is difficult to reproduce the smooth arc operation of the driver's hand, and the fixed mechanical structure makes it difficult to flexibly adapt to different models of transmissions, resulting in strong equipment specialization and insufficient versatility. Second, mechanical measurements are coarse and subject to interference. Force is usually measured only in a single direction, making it impossible to obtain multi-dimensional interactive forces. Furthermore, the backlash, friction, and inertial forces of the drive transmission chain connected in series with the force sensor can couple into the measurement signal, seriously interfering with the acquisition of real shifting force data. Third, there is a lack of compliance and a risk of damage. In high-speed durability testing, rigid systems are extremely sensitive to small positional errors or jamming, easily generating excessive impact forces, which not only leads to data distortion but may also cause mechanical damage to expensive transmission prototypes. These shortcomings in motion fidelity, measurement accuracy, and testing safety collectively restrict the improvement of automated testing efficiency. Summary of the Invention

[0004] This invention proposes a robot for testing transmissions with automatic gear shifting function, which solves the problems of insufficient versatility and strong interference in related technologies.

[0005] The technical solution of the present invention is as follows: A transmission testing robot with automatic shifting function includes a base plate, on which a first support plate and a second support plate are arranged opposite to each other; A motion decoupling cylinder, the two ends of which are rotatably connected to the first support plate and the second support plate respectively through a first needle roller bearing and a second needle roller bearing; A gear selection drive assembly is mounted on the first support plate. The gear selection drive assembly includes a servo motor and a double-angle reducer connected to the output end of the servo motor. The housing of the double-angle reducer is fixed on the motion decoupling cylinder. The output end of the double-angle reducer is provided with a stop elbow. A gear shifting drive assembly is mounted on the second support plate. The gear shifting drive assembly includes a gear shifting motor and a planetary reducer connected to the output end of the gear shifting motor. The housing of the planetary reducer is fixed to the second support plate, and the output end of the planetary reducer is fixedly connected to the end of the motion decoupling cylinder. A guide rod, one end of which is fixed to the motion decoupling cylinder; A shift lever is fixedly connected to the other end of the guide rod and is movably connected to the shift elbow via a movable support point device; A sleeve device is installed at the end of the shift arm, and at least one force sensor is provided inside the sleeve device.

[0006] As a preferred embodiment of the present invention, the motion decoupling cylinder has an overall U-shaped structure, and a first limiting structure for limiting the rotation angle is provided on the outer periphery of the cylinder body. The first limiting structure is a protrusion or a sensing plate fixed to the cylinder body.

[0007] As a preferred embodiment of the present invention, a second limiting structure for limiting the swing angle of the shift elbow is provided on the inner wall of the groove of the motion decoupling cylinder. The second limiting structure is a limit switch trigger block or a sensing plate.

[0008] In a preferred embodiment of the present invention, the movable support point device is integrated on the shift elbow, and includes a drive motor and a lead screw mechanism driven by the drive motor. The nut of the lead screw mechanism is hinged to the shift arm, and the position of the hinge point of the shift arm on the shift elbow is adjusted by the linear movement of the nut.

[0009] In a preferred embodiment of the present invention, the shift elbow, guide rod, shift arm, and motion decoupling cylinder together constitute a parallelogram linkage mechanism; wherein, the shift elbow serves as the active link connected to the output end of the double-corner reducer, the motion decoupling cylinder serves as a fixed frame, the guide rod serves as a parallel link, and the shift arm serves as a driven link, such that the motion trajectory of the sleeve device is an arc centered on the axis of the motion decoupling cylinder.

[0010] As a preferred embodiment of the present invention, four force sensors are uniformly arranged circumferentially inside the sleeve device, and the measurement directions of the four force sensors correspond to the axial and radial directions of the sleeve, respectively.

[0011] In a preferred embodiment of the present invention, a first end cover plate is provided between the first support plate and the first needle roller bearing, the end of the motion decoupling cylinder is fixedly connected to the output end of the planetary reducer through a connecting cover plate, and a second end cover plate is provided between the second support plate and the second needle roller bearing.

[0012] As a preferred embodiment of the present invention, both the first needle roller bearing and the second needle roller bearing are covered with dust covers.

[0013] The working principle and beneficial effects of this invention are as follows: 1. This invention, through the arrangement of a parallelogram linkage mechanism and a moving support point device, is composed of a shift elbow, a guide rod, a shift arm, and a motion decoupling cylinder. Its core lies in the fact that the moving support point device can actively adjust the hinge point position of the shift arm on the shift elbow by driving a lead screw with a motor. This adjustment directly changes the effective link length ratio of the entire four-bar linkage, thereby precisely adjusting the radius of the motion arc of the end sleeve device without changing any hardware. This achieves flexible and rapid adaptation to the shift stroke of different transmission models, significantly improving the versatility of the equipment and testing efficiency.

[0014] 2. This invention fundamentally reduces system interference in mechanical measurements through the design of a motion decoupling cylinder and an end-effector multidimensional force sensor array. The motion decoupling cylinder, acting as an independent rotating frame supporting the gear selector drive motor (servo motor and double-angle reducer), is connected to the frame via bearings, isolating the weight and vibration of the drive unit. Simultaneously, four force sensors are directly arranged inside the end sleeve, directly measuring the actual multidimensional contact force with the gear shift lever. This "physical separation of drive and measurement" architecture avoids the coupling of internal forces such as transmission chain friction and backlash into the measurement signal, as is common in traditional series structures, ensuring the high purity and reliability of the shift force data. Attached Figure Description

[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the overall structure of the present invention; Figure 3 This is a side view of the overall structure of the present invention; Figure 4 This is a top view of the overall structure of the present invention.

[0017] In the diagram: 1. Base plate; 2. First support plate; 3. Servo motor; 4. First end cover plate; 5. Double corner reducer; 6. Dust cover; 7. First needle roller bearing; 8. Motion decoupling cylinder; 9. Second needle roller bearing; 10. Connecting cover plate; 11. Second support plate; 12. Gear shifting motor; 13. Second end cover plate; 14. Planetary reducer; 15. Gear shifting elbow; 16. Guide rod; 17. Gear shifting arm; 18. Moving support point device; 19. Sleeve device; 20. Force sensor. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] Example like Figures 1-4 As shown, a transmission testing robot with automatic shifting function includes a base plate 1, on which a first support plate 2 and a second support plate 11 are arranged opposite to each other; A motion decoupling cylinder 8, the two ends of which are rotatably connected to the first support plate 2 and the second support plate 11 via a first needle roller bearing 7 and a second needle roller bearing 9, respectively. A gear selection drive assembly is mounted on the first support plate 2. The gear selection drive assembly includes a servo motor 3 and a double corner reducer 5 connected to the output end of the servo motor 3. The housing of the double corner reducer 5 is fixed on the motion decoupling cylinder 8. The output end of the double corner reducer 5 is provided with a stop elbow 15. A gear shifting drive assembly is mounted on the second support plate 11. The gear shifting drive assembly includes a gear shifting motor 12 and a planetary reducer 14 connected to the output end of the gear shifting motor 12. The housing of the planetary reducer 14 is fixed on the second support plate 11, and the output end of the planetary reducer 14 is fixedly connected to the end of the motion decoupling cylinder 8. A guide rod 16, one end of which is fixed to the motion decoupling cylinder 8; A shift arm 17 is fixedly connected to the other end of the guide rod 16 and is movably connected to the shift elbow 15 via a movable support point device 18. A sleeve device 19 is installed at the end of the shift arm 17, and at least one force sensor 20 is provided inside the sleeve device 19.

[0020] The motion decoupling cylinder 8 has an overall U-shaped structure, and a first limiting structure for limiting the rotation angle is provided on the outer periphery of the cylinder body. The first limiting structure is a protrusion or sensing plate fixed to the cylinder body.

[0021] The inner wall of the groove of the motion decoupling cylinder 8 is provided with a second limiting structure for limiting the swing angle of the hook elbow 15. The second limiting structure is a limit switch trigger block or a sensing plate.

[0022] The movable support point device 18 is integrated on the shift elbow 15. It includes a drive motor and a lead screw mechanism driven by the drive motor. The nut of the lead screw mechanism is hinged to the shift arm 17. The position of the hinge point of the shift arm 17 on the shift elbow 15 is adjusted by the linear movement of the nut.

[0023] The shift elbow 15, guide rod 16, shift arm 17, and motion decoupling cylinder 8 together constitute a parallelogram linkage mechanism. The shift elbow 15 serves as the active link and is connected to the output end of the double-corner reducer 5. The motion decoupling cylinder 8 serves as a fixed frame, the guide rod 16 serves as a parallel link, and the shift arm 17 serves as a driven link, so that the movement trajectory of the sleeve device 19 is an arc centered on the axis of the motion decoupling cylinder 8.

[0024] The sleeve device 19 has four force sensors 20 evenly arranged circumferentially inside, and the measurement directions of the four force sensors 20 correspond to the axial and radial directions of the sleeve, respectively.

[0025] A first end cover plate 4 is provided between the first support plate 2 and the first needle roller bearing 7. The end of the motion decoupling cylinder 8 is fixedly connected to the output end of the planetary reducer 14 through a connecting cover plate 10. A second end cover plate 13 is provided between the second support plate 11 and the second needle roller bearing 9.

[0026] Both the first needle roller bearing 7 and the second needle roller bearing 9 are covered with dust covers 6.

[0027] Specific embodiment: The robot includes a base plate 1 serving as the mounting base, on which a first support plate 2 and a second support plate 11 are vertically fixed. A core transmission component is a motion decoupling cylinder 8, which is U-shaped. The two ends of the cylinder are rotatably connected to the first support plate 2 and the second support plate 11 via a first needle roller bearing 7 and a second needle roller bearing 9, respectively. A first end cover plate 4 is installed between the first support plate 2 and the first needle roller bearing 7, and a second end cover plate 13 is installed between the second support plate 11 and the second needle roller bearing 9. Both needle roller bearings are covered with dust covers 6 for protection. The gear selection drive assembly is mounted on the first support plate 2, which consists of a servo motor 3 and a double-angle reducer 5 connected thereto. The housing of the double-angle reducer 5 is fixedly mounted on the motion decoupling cylinder 8, and its output end is equipped with a gear shifting elbow 15. The gear shifting drive assembly is mounted on the second support plate 11, which consists of a gear shifting motor 12 and a planetary gear shifting motor connected thereto. The reducer 14 is constructed, and the housing of the planetary reducer 14 is fixed on the second support plate 11. Its output end is fixed to the end of the motion decoupling cylinder 8 through a connecting cover plate 10. To achieve precise motion transmission, a guide rod 16 is provided, one end of which is fixed to the motion decoupling cylinder 8, and the other end is fixed to the shift arm 17. The shift arm 17 is movably connected to the shift elbow 15 through a movable support point device 18. Thus, the shift elbow 15, the guide rod 16, the shift arm 17, and the motion decoupling cylinder 8 together form a parallelogram linkage mechanism to ensure that the motion trajectory of the shift arm end is a predetermined arc. A sleeve device 19 is installed at the end of the shift arm 17, and four force sensors 20 are evenly arranged circumferentially inside it for multi-dimensional force measurement. In addition, a first limiting structure, such as a sensing plate, is provided on the outer periphery of the cylinder body of the motion decoupling cylinder 8 to limit its rotation angle, and a second limiting structure, such as a trigger block, is provided on the inner side wall of its groove to limit the swing angle of the shift elbow 15.

[0028] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot for testing transmissions with automatic gear shifting function, characterized in that, include: A foundation plate (1) is provided with a first support plate (2) and a second support plate (11) opposite to each other on the foundation plate (1); A motion decoupling cylinder (8) has its two ends rotatably connected to the first support plate (2) and the second support plate (11) via a first needle roller bearing (7) and a second needle roller bearing (9), respectively. A gear selection drive assembly is installed on the first support plate (2). The gear selection drive assembly includes a servo motor (3) and a double corner reducer (5) connected to the output end of the servo motor (3). The housing of the double corner reducer (5) is fixed on the motion decoupling cylinder (8). The output end of the double corner reducer (5) is provided with a hanging elbow (15). A gear shifting drive assembly is mounted on the second support plate (11). The gear shifting drive assembly includes a gear shifting motor (12) and a planetary reducer (14) connected to the output end of the gear shifting motor (12). The housing of the planetary reducer (14) is fixed on the second support plate (11). The output end of the planetary reducer (14) is fixedly connected to the end of the motion decoupling cylinder (8). A guide rod (16) is fixed at one end to the motion decoupling cylinder (8); A shift arm (17) is fixedly connected to the other end of the guide rod (16) and is movably connected to the shift elbow (15) via a movable support point device (18); A sleeve device (19) is installed at the end of the shift arm (17), and at least one force sensor (20) is provided inside the sleeve device (19).

2. The robot for testing a transmission with automatic shifting function according to claim 1, characterized in that: The motion decoupling cylinder (8) has a U-shaped structure, and a first limiting structure for limiting the rotation angle is provided on the outer periphery of the cylinder body. The first limiting structure is a protrusion or sensing plate fixed to the cylinder body.

3. The robot for testing a transmission with automatic shifting function according to claim 1, characterized in that: The inner wall of the groove of the motion decoupling cylinder (8) is provided with a second limiting structure for limiting the swing angle of the hanging elbow (15). The second limiting structure is a limit switch trigger block or a sensing plate.

4. The robot for testing a transmission with automatic shifting function according to claim 1, characterized in that: The movable support point device (18) is integrated on the shift elbow (15). It includes a drive motor and a lead screw mechanism driven by the drive motor. The nut of the lead screw mechanism is hinged to the shift arm (17). The position of the hinge point of the shift arm (17) on the shift elbow (15) is adjusted by the linear movement of the nut.

5. A test robot for a transmission with automatic shifting function according to claim 1, characterized in that: The shift elbow (15), guide rod (16), shift arm (17), and motion decoupling cylinder (8) together constitute a parallelogram linkage mechanism; wherein, the shift elbow (15) is connected to the output end of the double corner reducer (5) as an active link, the motion decoupling cylinder (8) is a fixed frame, the guide rod (16) is a parallel link, and the shift arm (17) is a driven link, so that the motion trajectory of the sleeve device (19) is an arc centered on the axis of the motion decoupling cylinder (8).

6. The robot for testing a transmission with automatic shifting function according to claim 1, characterized in that: The sleeve device (19) has four force sensors (20) evenly arranged circumferentially inside, and the measurement directions of the four force sensors (20) correspond to the axial and radial directions of the sleeve, respectively.

7. A test robot for a transmission with automatic shifting function according to claim 1, characterized in that: A first end cover plate (4) is provided between the first support plate (2) and the first needle roller bearing (7). The end of the motion decoupling cylinder (8) is fixedly connected to the output end of the planetary reducer (14) through a connecting cover plate (10). A second end cover plate (13) is provided between the second support plate (11) and the second needle roller bearing (9).

8. The robot for testing a transmission with automatic shifting function according to claim 1, characterized in that: The first needle roller bearing (7) and the second needle roller bearing (9) are both covered with dust covers (6).

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