Development And Research Of Automatic Shift Manipulator In Transmission Test-bed Of Track Vehicle

This paper is based on "Integrated Transmission Test-Bed Intelligent Optimized Shifting Technology Research". With research and development of vehicle integrated transmission test system, provide a high performance test bench for certain armed tracked vehicle. It can enhance the whole performance of synthetic transmission system. In the performance test, if shifted manually, the operator should power off and shift, wasting time and manpower; in the life-span test, it's too difficult to finish shifting for 200,000-400,000 times. In the transmission system test, we should use automatic shift manipulator instead of manual shifting, for reducing test-work load and shortening design cycle.In the paper, first of all, the present situation of the domestic and foreign shifting manipulator is analyzed and studied. According to the requirements of test, in contrast with pneumatic, hydraulic, mechanical and AC servo drive modes, a design plan of 3-DOF Cartesian coordinate robot of alternating-current servomechanism is proposed. It can solve curve shifting, motion control of three-dimension to two-dimension, shift gear calibration and so on. AC servomechanism is constructed of SYNTRON 60CB series servo motor, SYNTRON GS series servo driver, TRIO MC206 motion coordinator and industrial computer. Develop upper-computer control program with ActiveX component in VB. It includes shift gear calibration module, timing-operation module, and position-limit alarm module, for achieving shift automatic operation and system safety. At last, with network control technology, based on DCS of Synthetic Transmission Test-Bed, shift manipulator control system is integrated into DCS, using MODBUS communication protocol.With installation and debugging, the whole design and control plan of shift manipulator is reasonable, satisfied with test requirements. The system has compact construction, accurate positioning accuracy, safety and reliability. Without any construction changes of gear box, the shift manipulator can use for other gear boxes, only changing position of coordinates and motion distance in the software.