JPH11248601A - Gear change lever operating device for automatic vehicle driving robot - Google Patents

Abstract

(57) [Problem] To provide a gear change lever operating device of a vehicle automatic driving robot that can withstand vibrations and the like received when traveling on an experimental road. SOLUTION: A select actuator 11 (16) for moving a gear change knob grip portion 14 for gripping a knob 51 of a gear change lever 50 in a left-right direction, and a lift actuator for moving the gear change knob grip portion 14 in a vertical direction. 11 (21) and a three-axis actuator 11, 12 comprising a shift actuator 12 for moving the gear change knob gripping part 14 in the front-rear direction.
Return command output means for outputting a command for returning the three-axis actuators 11 and 12 from a predetermined operation position to a direction of an origin position serving as a starting point of the operation, in a gear change lever operating device of a vehicle automatic driving robot that performs axis control; A return command output means for outputting a command for returning the three-axis actuator to the original predetermined operation position is provided, and when the shift operation is not performed, the three-axis actuators 11 and 12 are returned to the home positions to stand by.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vehicle used for operating a gear change lever when a vehicle, for example, an automobile is automatically operated on a chassis dynamometer or on an experimental road to simulate actual vehicle running. The present invention relates to a gear change lever operating device for a driving robot.

[0002]

2. Description of the Related Art A gear change lever operating device of an automatic vehicle driving robot for automatically driving and operating a vehicle on a chassis dynamometer or the like to simulate actual vehicle driving has been developed. For example, there is one disclosed in JP-A-9-304236. A gear change lever operating device disclosed in this publication includes a select actuator for moving a gear change knob grip portion for gripping a knob of a gear change lever of an automobile in the left-right direction of the automobile, and a gear change knob grip portion for vertically moving the automobile. A lift actuator that moves by turning, a shift actuator that moves the gear change knob gripper in the front-rear direction of the vehicle, and automatically detects the operating force of the gear change knob during gear change to automatically set the gear position. It has a control unit that learns, etc., and automatically learns the gear position in a short time by this control unit, and accurately operates the gear change lever by the above actuator to enable automatic driving of the car. I have.

[0003]

However, in such a conventional gear change lever operating device, after learning the gear position, that is, the operation position of the gear change lever, the gear change lever is always operated during operation of the vehicle. While holding the lever knob, for example, neutral,
It is positioned at any of the first, second, third, fourth, and fifth operation positions. That is, each of the actuators is in a state of being extended to the control position during driving. In particular, in the case of a road running operation, these actuators also receive an exciting force due to the vibration of the vehicle body received from the road surface, and the rough road driving operation is performed. Then, it will receive several times more exciting force.

As described above, since the vibrating force is applied in a state where the amount of overhang from the support portion of the actuator to the grip portion of the gear change knob is always large, the configuration is not preferable from the viewpoint of durability. On the other hand, in the above configuration, if the mechanical strength is increased to ensure durability, the size and weight of the actuator are increased, and the mounting and handling properties of the actuator are deteriorated. If a high-strength member or the like is used to suppress the problem, there is a problem that the cost is increased.

[0005] In addition, in road driving, a battery mounted on a vehicle is used as a power source for the actuator. Therefore, depending on the test vehicle, a shortage of power supply capacity may be caused and the battery may run down.

[0006] The present invention has been made in view of such problems of the prior art.
A gear change lever operating device for a self-driving robot that can be applied to road driving without increasing the size and weight of the actuator and that can reduce the power consumption required for operating the actuator. Is to do.

[0007]

According to the present invention, there is provided a gear change lever operating device for a vehicle automatic driving robot according to the present invention.
As described in the above, a select actuator for moving a gear change knob gripper for gripping a knob of a gear change lever in the left and right direction, a lift actuator for vertically moving the gear change knob gripper, and A gear change lever operating device of a vehicle automatic driving robot that includes a three-axis actuator including a shift actuator that moves a gear change knob gripping part in a front-rear direction and performs three-axis control in a select direction, a lift direction, and a shift direction. Return command output means for outputting a command for returning the three-axis actuator from a predetermined operation position toward an origin position serving as a starting point of the operation;
Return command output means for outputting a command to return the shaft actuator to the predetermined operation position.

According to a second aspect of the present invention, in the gear change lever operating device of the automatic vehicle driving robot according to the first aspect, a shift schedule storing means for storing a shift schedule of the gear change lever in advance is further provided. The return command output means and / or the return command output means operate based on data stored in the shift schedule storage means.

According to a third aspect of the present invention, in the gear change lever operating device of the automatic vehicle driving robot according to the first aspect, the shift schedule storing means for storing a shift schedule of the gear change lever in advance and the shift. Shift operation interval calculating means for calculating the shift operation interval of the gear change lever based on the data stored in the schedule storing means is further provided, and the return command output means and / or the return command output means are provided with the shift schedule storing means. The operation is performed based on the stored data and the calculation result of the shift operation interval calculation means.

According to a fourth aspect of the present invention, in the gear change lever operating device of the automatic vehicle driving robot according to the first aspect, an external signal input means for inputting an external control signal is further provided. The return command output means and / or the return command output means operate based on an input signal of the external signal input means.

Further, as described in claim 5,
5. The gear change lever operating device for a vehicle automatic driving robot according to claim 1, wherein the three-axis actuator is mechanically moved in a select direction and / or a lift direction when the three-axis actuator is returned to the home position. It has a configuration in which holding means for holding is provided.

[0012]

According to the gear change lever operating device for a vehicle automatic driving robot according to the present invention, as described in claim 1, a command to return the three-axis actuator from the current operating position to the direction of the origin position. And a return command output means for outputting a command to return the three-axis actuator to the operating position before the return command. The position is controlled to the origin position, that is, a position close to the support portion, and the overhang from the support portion of the actuator to the grip portion of the gear change knob is reduced. Therefore, the exciting force to the actuator caused by the vehicle vibration from the road surface can be significantly reduced.

Thus, the gear change lever of the automatic vehicle driving robot applicable to the vehicle endurance test on the road without increasing the size and cost of the actuator and without impairing the mountability and handleability of the actuator. An operation device can be realized.

Further, according to the present invention, the shift schedule storing means for storing the shift schedule of the gear change lever in advance is provided. Based on the data stored in the shift schedule storing means,
The return control and the return control of the three-axis actuator can be automatically executed.

According to the third aspect of the present invention, in addition to the shift schedule storing means in which the shift schedule of the gear change lever is stored in advance, the shift of the gear change lever is performed based on the data stored in the shift schedule storing means. By providing the shift operation interval calculation means for calculating the operation interval, automatic operation can be performed only by inputting shift schedule data, and simplification of travel preparation (data input) can be achieved.

According to a fourth aspect of the present invention, since the external signal input means for inputting an external control signal is provided, it is possible to arbitrarily control the return of the three-axis actuator from the outside as required. The return control can be executed.

Further, as described in claim 5,
In a state where the three-axis actuator is returned to the home position, the holding mechanism mechanically holds the three-axis actuator in the select direction (left-right direction) or the lift direction (vertical direction), and further, in both the select direction and the lift direction. By providing the means, the force acting on the support portion of the three-axis actuator can be dispersed, and the power consumption of the power source for operating the select actuator or the lift actuator can be minimized.

As a result, the power consumption of the whole vehicle automatic driving robot can be reduced, and the power consumption can be reduced, that is, the required power can be reduced, so that the power supply can be downsized. .

[0019]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows an overall configuration of an automatic vehicle driving robot provided with a gear change lever operating device according to the present invention. The automatic vehicle driving robot 1 includes a driver's seat 2 of a vehicle (here, an automobile). And is used while being fixed by the belt 3.

As shown in FIG. 1, the automatic vehicle driving robot 1 includes an accelerator pedal operating actuator 4 for operating an accelerator pedal of a vehicle, a brake pedal operating actuator 5 for operating a brake pedal of the vehicle,
The vehicle includes a clutch pedal operation actuator 6 for operating a vehicle clutch pedal, a key switch operation actuator 8 for performing on / off operation of a key switch, and a gear change lever operation for operating a vehicle gear change lever 50. Equipment.

The gear change lever operating device includes a gear change bar operating member 13 having a gear change knob grip portion 14 for gripping a knob 51 of a gear change lever 50 at an end thereof, and a gear change lever operating member 13 having an axial line. A shift actuator 12 for expanding and contracting in the direction, that is, moving the gear change knob gripping portion 14 in the front-rear direction of the vehicle, and a gear change lever operating member 13 together with the shift actuator 12 in the lateral direction of the vehicle, that is, the gear change knob gripping portion Gear change lever operating member 1 together with a select actuator for moving the gear in the left-right direction of the vehicle and the shift actuator 12
3 is provided with a select / lift actuator 11 having a function of a lift actuator for moving the gear change knob grip portion 14 in the vertical direction of the vehicle.

The Select / Lift Actuator 1
As shown in FIGS. 1 and 2, an actuator shaft 18 is arranged so as to extend in the left-right direction of the vehicle (the direction of arrow A).
And a lift drive motor 21 for giving a rotary motion about its axis (in the direction of arrow B) to the actuator shaft 18 via a gear 22. The shift actuator 12 is fixed to one end of the actuator shaft 18.

Therefore, by rotating the select drive motor 16, the actuator shaft 18 supported by the plurality of steel balls 23 in the groove moves in the direction of arrow A, and the shift actuator 12, that is, the gear change lever operating member 13 is moved. The gear change knob grip portion 14 can be moved in the left-right direction of the vehicle (the direction of arrow A),
Also, by rotating the lift drive motor 21,
The actuator shaft 18 rotates in the direction of arrow B via the gear 22, and the shift actuator 12, that is, the gear change knob grip portion 14 of the gear change lever operating member 13.
Can be moved in the vertical direction of the vehicle.

The shift actuator 12 is shown in FIG.
As shown in FIG. 3, the gear change lever operating member 13 is reciprocated in the axial direction (the direction of arrow C) via the body portion 12a fixed to the actuator shaft 18 and the gear 26, the ball screw 27 and the ball nut 28. A shift drive motor 25 and the like for moving are provided, and the shift drive motor is provided in a state where the gear change knob grip portion 14 provided at the end of the gear change lever operation member 13 grips the knob 51 of the gear change lever 50. When the gear 25 is rotated, the gear change lever 50 can be moved in the front-rear direction of the vehicle together with the gear change knob grip portion 14 of the gear change lever operation member 13.

The select / lift actuator 11, the shift actuator 12, and the like constitute a three-axis actuator for controlling the gear change knob gripper 14 in three directions in the select direction, the lift direction, and the shift direction.

As shown in FIG. 4, the main body 14a of the gear change knob grip 14 provided at the end of the gear change lever operating member 13 is fixed to the end of the gear change lever operating member 13 by screws 31. Has been
The knob 14 of the gear change lever 50 is gripped by the main body 14a via screws 32, 33 and the like.
A gripping piece 14b, which also functions as a detection switch for detecting an operation force applied to 1, is attached.

Further, the gear change lever operating device outputs a command to return the three-axis actuators 11 and 12 from a predetermined operation position (for example, the position shown in FIG. 1) to the direction of the origin position which is the starting point of the operation. Return command output means,
Return command output means for outputting a command to return the three-axis actuators 11 and 12 to a predetermined operation position.

FIG. 5 shows that the gear change knob grip 14 is disengaged from the knob 51 of the gear change lever 50 based on the return command signal output by the return command output means, that is, the gear change lever operating member 13 and The shift actuator 12 is turned upward and the gear change lever operating member 13 is moved in a contracted (accommodated) direction. Further, the shift actuator 12 is a select / lift actuator serving as a support portion. 11 shows a state in which the three-axis actuator has been moved back to the origin position by moving the actuator toward the side 11.

The return command is not limited to the case where all the actuators are returned to the home position as described above. For example, the command to return only the lift direction of the select / lift actuator 11 and the shift actuator 12 to the home position is provided. Etc., the shift actuator 1
This is applicable because the amount of overhang from the main body portion 12a of the second to the gear change knob grip portion 14 can be reduced.

Here, the shift actuator 12
Is the knob 5 of the gear change bar 50 as shown in FIG.
When returning from the operating position (position shown by the broken line in the figure) to the origin position (the position shown by the solid line in the figure), the gear change bar operating member is used so as not to hit the steering wheel 52 of the vehicle. The movement is controlled while performing the contraction operation of No. 13.

On the other hand, when returning the three-axis actuator to, for example, the operating position shown in FIG. 1 based on the return command output signal output by the return command output means, the three-axis actuator is moved so as not to hit the handle 52 or the like as described above. Controlled.

Further, the gear change lever operating device includes:
As shown in FIG. 7, a shift schedule storing means 60 in which a shift schedule of the gear change lever 50 is stored in advance, and an interval (T) of a shift operation of the gear changer 50 is calculated based on data stored in the shift schedule storing means 60. A shift operation interval calculation means 61 and the like are provided.

FIG. 8 shows an example of a shift schedule input to the shift schedule storage means 60,
Return command and return command, 3-axis actuators 11 and 1
FIG. 4 is a diagram showing a mutual relationship with a state 2; This shift schedule is from neutral (N) to 1st gear (1s
t), 2nd gear (2nd), 3rd gear (3rd), 4th gear (4t
h), and then up to 3rd gear (3r
d) The pattern is shifted down to the second speed (2nd) and returned to neutral (N) again.

Here, each shift operation interval (time T ₁ , T ₂ , T ₃ , T ₄ ,...) Is calculated based on storage data input to the shift schedule storage means 60. It can be determined in advance by step 61. In the shift schedule shown in FIG. 8, the three-axis actuators 11 and 12 hold the knob 51 of the gear change lever 50 by the gear change knob holding part 14 until the gear is shifted up from neutral (N) to fourth speed (4th). And the return command is issued at the same time as the upshift to the fourth speed (4th), and the gear change knob gripper 14 is held for the time Ts.
Is disengaged from the knob 51 of the gear change lever 50 and FIG.
At the origin position (returned state) shown in FIG. 5, the return command is issued at the same time when the time Ts in the fourth speed (4th) travel elapses, and the time before the downshift from the fourth speed (4th) to the third speed (3rd) is performed During t, the gear change knob gripper 14 is controlled so as to return to the operation position (operation state) where the knob 51 of the gear change lever 50 is gripped.

Next, a control flow of the gear change lever operating device according to the present invention will be described with reference to FIG. First, based on the shift schedule data input to the shift schedule storage means 61, the shift operation interval (elapsed time T) at the gear shift position in the current operating state and the next shift (shift up or down) command are issued. The remaining time (t) is calculated by the shift operation interval calculation means 61.

[0037] Then, in step S _1, the time T obtained by the computation is determined whether greater than the predetermined value α is performed. Here, when it is judged that T> alpha is output command signal returned by the return instruction output unit proceeds to step S _2, 3-axis actuator 11, 12 are currently operating position (e.g., shown in FIG. 1 State) is returned to the origin position (for example, the state shown in FIG. 5) as the starting point of the operation. That is, the lift drive motor 21 of the select / lift actuator 11 is driven to move the shift actuator 12 upward to the starting point, and the shift drive motor 25 of the shift actuator 12 is driven to drive the gear change lever. The operation member 13 is moved to the starting point in the storage direction, and further, the selection drive motor 16 of the select / lift actuator 11 is driven to move the shift actuator 12 housing the gear change lever operation member 13 to the support side, that is, Select·
It is moved to the starting point toward the lift actuator 11 side. This standby state at the origin position by the return command is maintained until before the next shift command.

On the other hand, if it is determined in step S ₁ that T ≦ α, the process returns to the shift operation interval calculating means 61 to calculate the time T again.

[0039] Subsequently, in the standby state, the remaining time t until the next shift command determination whether the difference is less than a predetermined value β is performed in step S _3. Here, if it is determined that t ≦ beta is the return command signal by the return instruction output unit outputs the routine proceeds to step S _4, 3-axis actuator 1
1 and 12 the origin position in the standby state (e.g., state shown in FIG. 5) based on the operating position before being returned in step S ₂ from (e.g., the state shown in FIG. 1) is caused to return to. That is, the select drive motor 16 of the select / lift actuator 11 is driven so that the shift actuator 12 containing the gear change lever operating member 13 is directed away from the support portion side (select / lift actuator 11 side). While moving to the original operation position, the shift drive motor 25 of the shift actuator 12 is driven to move the gear change lever operation member 13 to the original operation position in the direction in which it protrudes (extends). A shift actuator 12 that drives the lift drive motor 21 of the wrist actuator 11 to support the gear change lever operating member 13
Is moved downward to the original operation position, and the gear change knob grip portion 14 is turned to the knob 51 of the gear change lever 50.
Is returned to the state where it was grasped.

On the other hand, in step S _3, t> If it is determined that the beta, the calculation of the time t is performed back to the shift operating interval computing means 61 again.

Here, as the predetermined value α, the three-axis actuators 11 and 12 move from the predetermined operation position to the origin position.
And the time T required to reciprocate to the operation position again
_It is preferable to adopt a value equal to or greater than _M. As the predetermined value β, a value equal to or greater than the time _TN required for the three-axis actuators 11 and 12 to return to the original operation position from at least the returned home position is returned. It is preferable to employ it. The values of these times T _M and T _N can be obtained by actual measurement in the gear change lever operating device used, and each of them is about several seconds. The predetermined value β is equal to the above T _N
Is preferable, but the predetermined value α does not need to be a value close to T _M, and a value determined according to a running test pattern can be adopted.

In the above control flow, the shift operation interval (elapsed time T) at a predetermined gear shift position
Although the remaining time until the next shift command is calculated in real time, the return command and the return command may be calculated in advance and incorporated in the shift schedule.

The three-axis actuators 11 and 12 described above
1 is controlled by the control unit 56 shown in FIG. 1. The return command output unit, the return command output unit, the shift schedule storage unit 60, the shift operation interval calculation unit 61, and the like are included in the microcontroller included in the control unit 56. A computer (not shown) or the like plays this role.

The gear change lever operating device is provided with an external signal input means (not shown) for inputting an external control signal. For example, a three-axis actuator 11 is provided in response to a command signal from a ground base station. , 12 can be controlled.

FIG. 9 shows the gear change lever operating device of the above embodiment in which the three-axis actuators 11 and 12 are returned to their original positions, and the shift actuator 12 constituting the three-axis actuator is moved in the select direction and / or Alternatively, another embodiment in which holding means for mechanically holding in the lift direction is provided. As shown in FIG. 9, a holding member 30 serving as holding means for supporting the shift actuator 12 returned to the origin position from below and holding the shift actuator 12 at a predetermined position is provided by the select / lift actuator 11.
Is fixed to the main body portion 11a. This holding member 30
Is a receiving surface portion 30a having a surface shape conforming to the outer peripheral surface shape of the shift actuator 12, and a bracket that supports the receiving surface portion 30a and is fastened and fixed to the main body portion 11a of the select / lift actuator 11 by bolts 31. The portion 30b is formed.

In the gear change lever operating device of this embodiment, when the return movement control of the three-axis actuators 11 and 12 to the home position is performed, the shift actuator 12 is housed in the home position, that is, the gear change lever operating member 13 is housed. Is moved to the retracted (retracted) state, and the lift drive motor 21 of the select / lift actuator 11 is driven to lift the shift actuator 12 to a position higher than the receiving surface 30a of the holding member 30. Then, the select drive motor 16 of the select / lift actuator 11 is driven to move the shift actuator 12 in a direction approaching the main body portion 11a, thereby positioning the shift actuator 12 directly above the receiving surface portion 30a. Thereafter, the lift drive motor 21 of the select / lift actuator 11 is driven to drive the shift actuator 1
2 is moved downward to contact the receiving surface 30a of the holding member 30. On the other hand, when returning the three-axis actuators 11 and 12 to the original operation positions, the movement control is performed by following a procedure reverse to the movement control in the case of the return command.

By the return movement control, the three-axis actuators 11 and 12 return to the home position, and
In this state, the movement of the shift actuator 12 in the select direction (the left-right direction of the vehicle) and the lift direction downward (the up-down direction of the vehicle) is restricted.

Therefore, even if the power supply (not shown) for supplying power to the select / lift actuator 11 is turned off, the shift actuator 12 is maintained at the predetermined origin position. Further, since the shift actuator 12 is held obliquely upward, even if the power supply (not shown) for supplying electric power to the shift actuator 12 is turned off, the gear change lever operating member 13 is kept at the predetermined original position. Will be held in position.

By thus turning off the power supply and cutting off the power supply, the power consumption can be minimized, and the power consumption itself can be reduced by reducing the power consumption.

When the experimental road is rough, the gear change lever operating device may vibrate violently.
The shift actuator 12 is made of metal, and the holding member 3
If a configuration in which the magnet is provided on the zero receiving surface portion 30a is adopted, the holding force is further enhanced, and the shift actuator 12 can be reliably held at the predetermined origin position.

FIG. 10 shows another embodiment of the holding means for holding the shift actuator 12. As shown in FIG. As shown in the perspective view of FIG. 10 (a) and the cross-sectional view of FIG. 10 (b), the holding means in this embodiment moves the main body 11a of the select / lift actuator 11 in the select direction (vehicle lateral direction). And a male support pin 40 having an annular groove 40a protruding so as to extend in the select direction with respect to the outer peripheral portion of the shift actuator 12 in a direction facing the male support pin 40. The fitting hole 41a and the urging plunger 41 are provided so as to protrude.
b.

In the gear change lever operating device provided with the holding means 40, 41 in this embodiment, when the return movement control of the three-axis actuators 11, 12 to the home position is performed, the shift actuator 12 is moved to the home position, that is, the gear. The change lever operating member 13 is moved to a retracted (retracted) state, and the lift drive motor 21 of the select / lift actuator 11 is driven to shift the shift actuator 12 to the female type provided on the outer periphery thereof. The portion 41 and the male support pin 40 are lifted up to a position where they are aligned, and then the select drive motor 16 of the select / lift actuator 11 is driven to move the shift actuator 12 closer to the main body portion 11a. The male support pin 40 is moved to
Of the male support pin 40, and a biasing plunger 40b biased by a spring (not shown) is engaged with the annular groove 40a of the male support pin 40.

The three-axis actuator 1 is controlled by moving the male support pin 40 and the female fitting portion 41 to fit each other.
In this state, the shift actuators 12 are restricted from moving in the select direction (the left-right direction of the vehicle) and the lift direction (the up-down direction of the vehicle). Become.

Therefore, as described above, even if the power supply (not shown) for supplying power to the select / lift actuator 11 is turned off, the shift actuator 12 is maintained at the predetermined origin position. By setting the origin position to a state in which the shift actuator 12 is held obliquely upward, the shift actuator 1
Even if the power supply (not shown) for supplying power to the power switch 2 is turned off, the gear change lever operating member 13 is maintained at the contracted predetermined home position.

As described above, by turning off the power supply and cutting off the power supply, it is possible to achieve a reduction in power consumption and a reduction in the size of the power supply, as described above.

[Brief description of the drawings]

FIG. 1 is an external perspective view showing an entire automatic vehicle driving robot provided with a gear change lever operating device according to the present invention.

FIG. 2 is a sectional view of a select / lift actuator constituting a part of the gear change lever operating device according to the present invention.

FIG. 3 is a sectional view of a shift actuator constituting a part of the gear change lever operating device according to the present invention.

FIG. 4 is a front view showing a gear change knob grip portion of the gear change lever operating device according to the present invention.

FIG. 5 is an external perspective view showing a state where the three-axis actuator according to the present invention has been returned to the origin position.

FIG. 6 is a side view for explaining return movement control of the three-axis actuator according to the present invention.

FIG. 7 is a diagram showing a control flow of the gear change lever operating device according to the present invention.

FIG. 8 is a diagram showing a relationship between a shift schedule, a control command, and a state of a three-axis actuator according to the present invention.

FIG. 9 is an external perspective view of a vehicle automatic driving robot provided with a holding unit according to the present invention.

FIG. 10 shows another embodiment of the holding means according to the present invention, wherein (a) is an external perspective view in a separated state,
(B) is a sectional view in a fitted state.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Automatic vehicle driving robot 2 Driver's seat 4 Actuator for operating an accelerator pedal 5 Actuator for operating a brake pedal 6 Actuator for operating a clutch pedal 8 Actuator for operating a key switch 11 Actuator for select / lift (3 axis actuator) 11a Main body part (supporting part) 12 shift actuator (3-axis actuator) 13 gear change lever operating member 14 gear change knob gripping part 14b gripping piece 16 selection drive motor 18 actuator shaft 21 lift drive motor 25 shift drive motor 27 ball screw 28 ball nut 30 holding Member (holding means) 30a receiving surface part 30b bracket 40 male support pin (holding means) 40a annular groove 41 female fitting part (holding means) 41a fitting hole 41b urging Plunger 50 gear change lever 51 knob 52 the handle 56 the control unit 60 shifts the schedule storage unit 61 shift operating interval computing means

Claims (5)

[Claims] 1. A selector actuator for moving a gear change knob gripper for gripping a knob of a gear change lever in a left-right direction, a lift actuator for vertically moving the gear change knob gripper, and the gear change knob. A three-axis actuator including a shift actuator for moving the gripping part in the front-rear direction is provided.
A gear change lever operating device for a vehicle automatic driving robot that performs axis control, a return command output unit that outputs a command to return the three-axis actuator from a predetermined operation position to a direction of an origin position serving as a starting point of operation, A gear change lever operating device for a vehicle automatic driving robot, comprising: a return command output unit that outputs a command for returning the three-axis actuator to the predetermined operation position. 2. A shift schedule storage means for storing a shift schedule of a gear change lever in advance, wherein the return command output means and / or the return command output means operate based on data stored in the shift schedule storage means. The gear change lever operating device for an automatic vehicle driving robot according to claim 1, wherein 3. A shift schedule storing means for storing a shift schedule of a gear change lever in advance, and a shift operation interval calculating means for calculating a shift operation interval of the gear change lever based on data stored in the shift schedule storing means. The return command output means and / or the return command output means operate based on data stored in the shift schedule storage means and a calculation result of the shift operation interval calculation means. The gear change lever operating device of the automatic vehicle driving robot according to the above. 4. An external signal input means for inputting an external control signal, wherein the return command output means and / or the return command output means operate based on an input signal of the external signal input means. The gear change lever operating device for a vehicle automatic driving robot according to claim 1, wherein: 5. A holding means for mechanically holding the three-axis actuator in a select direction and / or a lift direction when the three-axis actuator is returned to the origin position. 5. The gear change lever operating device for a vehicle automatic driving robot according to any one of 1 to 4.