JP2014215227A - Testing apparatus for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a testing apparatus for vehicles that enables strong forces to be given to axles.SOLUTION: A testing apparatus 1 for vehicles comprises: a test item mounting body 2 to which four axles 21S, 22S, 23S and 24S corresponding to respective four wheels including left front, right front, left rear and right rear wheels are fitted and on which a test sample is to be mounted; a first motion base (body oscillating device) 3 for supporting the test sample mounting body 2 from underneath and causing the test sample mounting body 2 to make motions of six degrees of freedom; and four second motion bases (axle oscillating devices) 4, 5, 6 and 7 for supporting the axles 21S, 22S, 23S and 24S sideways and causing the axles 21S, 22S, 23S and 24S to make motions of six degrees of freedom.

Description

  The present invention relates to a vehicle test apparatus for performing performance tests of automobile parts and vehicles.

  In Patent Document 1, as a vehicle test apparatus, a pair of front and rear lateral movable bases that can move in the lateral direction, and four sets of six-degree-of-freedom hydraulic cylinder groups that are provided on the upper surface of these laterally movable bases, one on each side. Four swivel lifts connected to the upper ends of these six-degree-of-freedom hydraulic cylinder groups, and four rotating belts provided on the four swivel lifts, respectively, on which the four wheels of the vehicle are placed An apparatus with which is provided is described.

JP 2008-175778 A JP 2006-138827 A JP 2009-536736 A

In the above-described conventional device, it is difficult to give a large value in the axial direction to the axle of the vehicle.
An object of the present invention is to provide a vehicular test apparatus that can give a large value in the axial direction to an axle.

  In order to achieve the above object, the invention according to claim 1 includes four axles (21S, 22S, 23S, 24S) corresponding to four wheels of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel. The test article mounting body (2) on which the test articles (40, 50) are mounted and the axles are supported from the side of the test article mounting body, and each axle has 6 degrees of freedom. A vehicle test apparatus (1) including four axle shakers (4, 5, 6, 7) for causing movement. In addition, although the alphanumeric character in parentheses represents a corresponding component in an embodiment described later, of course, the scope of the present invention is not limited to the embodiment. The same applies hereinafter.

  In the present invention, each axle oscillation device supports each axle from the side of the test article mounting body, so that it is larger in the axial direction with respect to each axle than when each axle is supported from below. It becomes possible to give power. Thus, for example, when an axial force is applied to each axle to perform a bending test of each axle, a rigidity test of a vehicle body, etc., the range of the axial force that can be applied to each axle can be widened. it can. The vehicle body rigidity test is a test in which the vehicle body is twisted to measure its rigidity.

The invention according to claim 2 includes a vehicle body shaking device (3) for supporting the test article mounting body and causing the test body mounting body to move in six degrees of freedom. This is a vehicle testing apparatus.
According to this configuration, a force can be directly applied to the test article mounting body by the vehicle body shaking device in a state where each axle is supported by each axle shaking device. As a result, a test article can be obtained without causing the vehicle body to travel relative to the member supporting the axle with the same force as the inertial force acting on the vehicle body during acceleration, deceleration, or turning of the actual vehicle. It can be given to the mounting body.

The invention described in claim 3 further includes four electric motors (31, 32, 33, 34) connected to the outer end portions of the respective axles for imparting rotational force to the respective axles. 3. The vehicle testing apparatus according to claim 1, wherein the axle shaking device supports the axles from the side of the test article mounting body via the electric motors.
According to this configuration, it is possible to apply a rotational force similar to the rotational force applied to the axle from the outside such as a road surface condition when the actual vehicle is traveling on the axle.

A fourth aspect of the present invention is the vehicle testing apparatus according to any one of the first to third aspects, wherein each of the axle oscillation devices is a motion base capable of moving with 6 degrees of freedom.
A fifth aspect of the present invention is the vehicle testing apparatus according to any one of the first to third aspects, wherein each of the axle oscillation devices is a robot system including a robot arm capable of moving with 6 degrees of freedom. is there.

FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle inspection apparatus according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle inspection apparatus of FIG. FIG. 3 is a side view schematically showing the vehicle inspection apparatus of FIG. 1. 4 is a plan view schematically showing the vehicle inspection apparatus of FIG. FIG. 5A and FIG. 5B are schematic diagrams for explaining an example of control of each motion base when simulating a vehicle running state during acceleration on a flat ground. FIG. 5A is a state where the vehicle is stationary on a flat ground. FIG. 5B is a schematic diagram showing a vehicle running state during acceleration on a flat ground. 6A and 6B are schematic diagrams for explaining an example of control of each motion base when simulating a vehicle running state during acceleration on a slope, and FIG. 6A is a state where the vehicle is stationary on the slope. FIG. 6B is a schematic diagram illustrating a vehicle running state during acceleration on a slope. FIG. 7A and FIG. 7B are schematic diagrams for explaining an example of control of each motion base in the case of simulating the vehicle traveling state at the time of turning, and FIG. 7A is a schematic diagram showing a state of traveling in a straight line. FIG. 7B is a schematic diagram showing a vehicle running state during turning. FIG. 8 is a block diagram showing a schematic electrical configuration of the vehicle inspection system.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view schematically showing the appearance of a vehicle inspection apparatus according to an embodiment of the present invention. FIG. 2 is a front view schematically showing the vehicle inspection apparatus of FIG. FIG. 3 is a side view schematically showing the vehicle inspection apparatus of FIG. 1. 4 is a plan view schematically showing the vehicle inspection apparatus of FIG. 1 and 3, the vertical wall to which the second motion base that supports the axle is fixed is omitted. In FIG. 4, the test article mounting body is omitted.

  The vehicle inspection apparatus 1 is equipped with a test product on which four axles 21S, 22S, 23S, and 24S corresponding to four wheels of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel are mounted and a test product is mounted. A vehicle body 2 for testing, a first motion base (vehicle shaking device) 3 for supporting the vehicle body 2 for mounting a test product from below and causing the vehicle body 2 for mounting a test product to move with 6 degrees of freedom, and axles 21S, Four second motion bases (axle shaking devices) for supporting 22S, 23S, 24S from the side of the vehicle body 2 for mounting a test product and causing the axles 21S, 22S, 23S, 24S to move with 6 degrees of freedom 4, 5, 6, and 7.

1 to 4, the front end of the test article mounting vehicle body 2 is indicated by reference numeral 2f, and the rear end of the test article mounting vehicle body 2 is indicated by reference numeral 2r.
No wheels are attached to the four axles 21S, 22S, 23S, 24S of the test article mounting body 2. At the outer ends of the four axles 21S, 22S, 23S, 24S of the test article mounting body 2, there are four electric motors (hereinafter referred to as "external force adding motors") 31 for applying rotational force to the axles. The output shafts 32, 33 and 34 are connected. Each of the external force addition motors 31, 32, 33, and 34 applies a rotational force similar to the rotational force (external force) applied to each axle from the outside when the actual vehicle is running, to the corresponding axles 21S, 22S, and 23S. , 24S for individually giving. The external force includes, for example, a rotational load applied to each axle due to road friction when the actual vehicle is traveling, and a rotation applied to each axle via the road surface when the actual vehicle is going down a slope. Power is included.

A test product for various automobile parts is mounted on the test product mounting body 2. In this embodiment, an electric power steering device (EPS) 40, an axle 23S for the left rear wheel and an axle 24S for the right rear wheel are driven by the electric motor in the test article mounting vehicle body 2. A rear wheel drive module 50 is mounted as a test product.
In this embodiment, the EPS 40 is a column assist type EPS. As is well known, the EPS 40 includes a steering wheel 81, a steering mechanism 82 for steering the front wheels in conjunction with the rotation of the steering wheel 81, and a steering assist mechanism for assisting the driver's steering. 83. However, in this embodiment, since the front wheels are not attached, the steering mechanism 82 is not connected to the front wheels. The steering wheel 81 and the steering mechanism 82 are mechanically connected via a steering shaft.

  The steering mechanism 82 includes a rack and pinion mechanism including a pinion provided at the lower end of the steering shaft and a rack shaft provided with a rack that meshes with the pinion. The steering assist mechanism 83 includes an electric motor 41 (see FIG. 8, hereinafter referred to as “assist motor 41”) for generating a steering assist force, and a speed reduction mechanism for transmitting output torque of the assist motor 41 to the steering shaft. (Not shown).

Further, the EPS 40 detects an ECU (Electronic Control Unit) 42 (refer to FIG. 8, hereinafter referred to as “EPS ECU 42”) for controlling the assist motor 41 and an axial displacement position of the rack shaft. And a linear displacement sensor (not shown).
The rear wheel drive module 50 includes an electric motor 51 (see FIG. 8; hereinafter referred to as “rear wheel drive motor 51”) for rotating and driving the rear wheel axles 23S and 24S, and a rear wheel drive motor 51. A transmission mechanism (not shown) for transmitting the rotational force to the rear wheel axles 23S, 24S, and an ECU 52 for controlling the rear wheel drive motor 51 (see FIG. 8; hereinafter, “rear wheel drive motor ECU 52”). And a rotation angle sensor (not shown) for detecting the rotation angle of both or one of the rear wheel axles 23S, 24S. The transmission mechanism includes a clutch and a speed reduction mechanism. The transmission mechanism may include only one of the clutch and the speed reduction mechanism.

  The first motion base 3 is fixed on the surface plate 10 placed on the floor 101. On the floor 101, two vertical walls 102 and 103 are provided on both the left and right sides of the test article mounting body 2. The two second motion bases 4 and 6 on the left side are fixed to the left vertical wall 102. The two second motion bases 5 and 7 on the right side are fixed to the vertical wall 103 on the right side.

  As is well known, each of the motion bases 3, 4, 5, 6, 7 includes a fixed base 11, a movable base (moving base) 12 disposed opposite to the fixed base 11, An actuator 13 connected to the movable base 12 for causing the movable base 12 to move in six degrees of freedom (back and forth, left and right, up and down, roll, pitch, and yaw movements), and a motion controller that drives and controls the actuator 13 3C, 4C, 5C, 6C, 7C (see FIG. 8).

The fixed base 11 of the first motion base 3 is fixed to the surface plate 10. The test article mounting vehicle body 2 is fixed to the movable base 12 of the first motion base 3 with the central portion of the test article mounting vehicle body 2 placed thereon. That is, the center part of the lower surface of the test article mounting vehicle body 2 is attached to the upper surface of the movable base 12 of the first motion base 3.
The fixed bases 11 of the two left second motion bases 4 and 6 are fixed to the left vertical wall 102. The fixed bases 11 of the two right second motion bases 5 and 7 are fixed to the right vertical wall 103. In other words, the second motion bases 4, 5, 6, and 7 are fixed to the vertical walls 102 and 103 in a sideways state.

  On the front surface of the movable base 12 of the second motion base 4 on the left side (the surface facing the left side surface of the test article mounting body 2), the center axis of the output shaft of the external force applying motor 31 is the movable base 12. An external force adding motor 31 is attached in a form orthogonal to the surface. On the surface of the movable base 12 of the second motion base 6 on the left rear side (the surface facing the left side of the test article mounting body 2), the central axis of the output shaft of the external force applying motor 33 is the movable base 12. An external force application motor 33 is attached in a form orthogonal to the surface.

  On the front surface of the movable base 12 of the second motion base 5 on the right side (the surface facing the right side surface of the test article mounting body 2), the central axis of the output shaft of the external force applying motor 32 is the movable base 12. An external force adding motor 32 is attached in a form orthogonal to the surface. On the surface of the movable base 12 of the second motion base 7 on the right rear side (the surface facing the right side of the test article mounting body 2), the central axis of the output shaft of the external force applying motor 34 is the movable base 12. An external force adding motor 34 is attached in a form orthogonal to the surface.

  In the vehicle inspection apparatus 1, the test article mounting body 2 is supported by the first motion base 3. The external force applying motors 31, 32, 33, and 34 are supported by the second motion bases 4, 5, 6, and 7, respectively. In other words, the outer ends of the axles 21S, 22S, 23S, 24S are supported by the second motion bases 4, 5, 6, 7 via the external force applying motors 31, 32, 33, 34, respectively.

  Therefore, in this vehicle inspection apparatus 1, various vehicle body postures can be created by driving and controlling the actuator 13 of the first motion base 3. Various road surface conditions can be created by individually controlling the actuators 13 of the second motion bases 4, 5, 6, and 7. Therefore, it is possible to simulate various vehicle running states by individually controlling the actuators 13 of the motion bases 3, 4, 5, 6, and 7.

  In the vehicle inspection apparatus 1, the axles 21 </ b> S, 22 </ b> S, 23 </ b> S, 24 </ b> S are supported by the second motion bases 4, 5, 6, 7 from the side of the test article mounting body 2. For this reason, compared with the case where each axle 21S, 22S, 23S, 24S is supported from below by the motion base, it is possible to apply a greater force in the axial direction to each axle 21S, 22S, 23S, 24S. As a result, an axial force is applied to each axle 21S, 22S, 23S, 24S, and each axle 21S, 22S, The range of the axial force that can be applied to 23S and 24S can be widened. In addition, since a space can be created between the floor 101 (the surface plate 10) and each of the second motion bases 4, 5, 6, and 7, equipment for various tests is provided on the floor 101 (the surface plate 10). It becomes easy to arrange.

Further, in the vehicle inspection apparatus 1, a rotational force similar to the rotational force (external force) applied to each axle from the outside when the actual vehicle is traveling is individually applied to the corresponding axles 21S, 22S, 23S, 24S. Can be granted. This makes it possible to reproduce the driving load and suspension behavior according to the actual driving situation.
In the vehicle inspection apparatus 1, the first motion base 3 directly supports the test product mounting body 2 with the axles 21 </ b> S to 24 </ b> S supported by the second motion bases 4, 5, 6, and 7. You can apply power. As a result, a force similar to the inertial force acting on the vehicle body during acceleration, deceleration, turning, etc. of the actual vehicle is applied relative to the member supporting the axles 21S to 24S. Can be applied to the vehicle body 2 for mounting a test product without traveling.

In the vehicle inspection apparatus 1, the test article mounting vehicle body 2 can be yawed by the first motion base 3. Thereby, yawing exercise | movement can be simulated.
More specific description will be given below. In the following description, the X-axis refers to an axis that passes through the center of gravity of the test article mounting vehicle body 2 and extends in the front-rear direction of the vehicle body. The Y axis refers to an axis that passes through the center of gravity of the test article mounting vehicle body 2 and extends in the left-right direction of the vehicle body. Further, the Z axis refers to an axis that passes through the center of gravity of the test article mounting vehicle body 2 and extends in the vertical direction of the vehicle body. That is, the X axis, the Y axis, and the Z axis are coordinate systems (hereinafter referred to as “vehicle body coordinate system”) fixed to the test article mounting vehicle body 2.

5A and 5B are schematic diagrams for explaining an example of control of each motion base in the case of simulating a vehicle running state during acceleration on a flat ground.
FIG. 5A shows a state where the vehicle is stationary on a flat ground. In this case, the position and orientation of the movable base 12 of each of the motion bases 3, 4, 5, 6 and 7 are such that the XY plane defined by the X axis and the Y axis of the vehicle body coordinate system is parallel to the upper surface of the surface plate 10. It has been adjusted to be.

  The vehicle running state during acceleration on flat ground can be made as follows. That is, referring to FIG. 5B, all the second motion bases 4, 5, 6, and 7 are fixed to the stationary state of FIG. 5A, and the movable base 12 of the first motion base 3 is moved in the first direction around the Y axis ( The actuator 13 of the first motion base 3 is driven so as to rotate in the direction indicated by the arrow. The first direction around the Y axis is a direction in which the front end of the test article mounting body 2 is lifted upward.

  That is, in a state where the external force applying motors 31 to 34 are supported by the corresponding second motion bases 4, 5, 6, and 7, the movable base 12 of the first motion base 3 is moved in the first direction around the Y axis. Drive to rotate. Thereby, the rotational force that rotates the test article mounting body 2 in the first direction around the Y axis is directly applied to the test article mounting body 2. That is, a force similar to the inertial force acting on the vehicle body during acceleration of the actual vehicle can be directly applied to the test article mounting vehicle body 2. Thereby, the vehicle running state during acceleration on flat ground can be simulated without causing the test article mounting body 2 to travel relative to the member supporting the axles 21S to 24S. In this case, pitching behavior evaluation, suspension behavior evaluation, and the like are possible.

When simulating the vehicle running state during deceleration, the direction of the rotational force around the Y axis applied to the movable base 12 of the first motion base 3 is the first in the case of simulating the vehicle running state during acceleration. The direction may be opposite to the direction (the direction in which the rear end of the test article mounting vehicle body 2 is lifted upward).
6A and 6B are schematic diagrams for explaining an example of control of each motion base in the case of simulating a vehicle traveling state during acceleration on a slope. A description will be given of the uphill slope.

FIG. 6A shows a state where the vehicle is stationary on a slope. In this case, the position / orientation of the movable base 12 of each of the motion bases 3, 4, 5, 6 and 7 is the surface of the slope assumed by the XY plane defined by the X axis and the Y axis of the vehicle body coordinate system. It is adjusted so that it becomes parallel.
This stationary state can be created from a stationary state on a flat ground as follows. That is, the movable base 12 of the first motion base 3 is rotated by a predetermined amount in the first direction around the Y axis according to the inclination angle of the slope. At the same time, the movable base 12 of each of the second motion bases 4, 5, 6, and 7 is rotated by a predetermined amount in the first direction around the Y axis according to the inclination angle of the slope, and the Z-axis direction (vertical direction) ). The first direction around the Y axis is a direction in which the front end of the test article mounting body 2 is lifted. In this case, the movable bases 12 of the front two second motion bases 4 and 5 are moved upward, and the movable bases 12 of the rear two second motion bases 6 and 7 are moved downward. .

  The vehicle running state during acceleration on a slope can be made as follows from the stationary state of FIG. 6A. That is, with reference to FIG. 6B, the movable bases 12 of all the second motion bases 4, 5, 6 and 7 are fixed in a stationary state on the slope of FIG. 6A, and the movable bases 12 of the first motion base 3 are The actuator 13 of the first motion base 3 is driven so as to rotate in a first direction around the axis (direction indicated by an arrow).

  That is, in a state where the external force applying motors 31 to 34 are supported by the corresponding second motion bases 4, 5, 6, and 7, the movable base 12 of the first motion base 3 is moved in the first direction around the Y axis. Drive to rotate. Thereby, the rotational force that rotates the test article mounting body 2 in the first direction around the Y axis is directly applied to the test article mounting body 2. That is, a force similar to the inertial force acting on the vehicle body when accelerating on the slope of the actual vehicle (uphill in this example) can be directly applied to the test article mounting vehicle body 2. Thus, the vehicle running state during acceleration on a slope can be simulated without causing the test article mounting body 2 to travel relative to the member supporting the axles 21S to 24S. In this case, pitching behavior evaluation, suspension and drive shaft behavior evaluation, hub bearing evaluation, and the like are possible.

When simulating the vehicle running state when decelerating on a slope, the direction of the rotational force around the Y axis applied to the movable base 12 of the first motion base 3 is set to the vehicle running during acceleration on a slope. A direction opposite to the first direction in the case of simulating the state (a direction in which the rear end of the test article mounting vehicle body 2 is lifted upward) may be used.
FIG. 7A and FIG. 7B are schematic diagrams for explaining an example of control of each motion base in the case of simulating the vehicle traveling state at the time of turning.

FIG. 7A shows a state where the vehicle is traveling straight. A case where the vehicle turns leftward from this state as shown in FIG. 7B will be described.
Referring to FIG. 7B, in order to turn the test article mounting vehicle body 2 leftward, the movable base 12 of the first motion base 3 is rotated counterclockwise around the Z axis of the vehicle body coordinate system in plan view. In addition, the movable bases 12 of all the second motion bases 4, 5, 6, and 7 are rotated counterclockwise in a plan view around the Z axis of the vehicle body coordinate system, and the turning body 2 of the test article mounting body 2 is rotated. Accordingly, the external force application motors 31 to 34 are moved in the X-axis and Y-axis directions of the vehicle body coordinate system. Thereby, the vehicle running state at the time of turning can be simulated. In this case, it is possible to evaluate the axial load of the axles 21S to 24S, evaluate the steering torque, evaluate the rack axial force, evaluate the hub bearing, and the like.

Hereinafter, a vehicle inspection system using the vehicle inspection apparatus 1 will be described.
FIG. 8 is a block diagram showing a schematic electrical configuration of the vehicle inspection system 100.
The vehicle inspection system 100 includes a driving simulator 60, a vehicle inspection device 1, and an actuator controller 70. The driving simulator 60 virtually simulates driving of a vehicle and is operated by a driver. The vehicle inspection device 1 is equipped with motor control devices 35, 36, 37, and 38 for controlling the EPS 40, the rear wheel drive module 50, and the external force application motors 31, 32, 33, and 34. The actuator controller 70 controls the motion bases 3, 4, 5, 6, 7 of the vehicle inspection device 1 and the motor control devices 35, 36, 37, 38 mounted on the vehicle inspection device 1.

As described above, the EPS 40 includes the assist motor 41, the EPS ECU 42 for controlling the assist motor 41, and the linear displacement sensor (not shown) for detecting the axial displacement position of the rack shaft. Yes.
As described above, the rear wheel drive module 50 includes the rear wheel drive motor 51, the rear wheel drive motor ECU 52 for controlling the rear wheel drive motor 51, and / or the rear wheel axles 23S and 24S. A rotation angle sensor (not shown) for detecting one rotation angle.

  From the driving simulator 60, steering angle information (handle angle information), accelerator opening information, brake pedal force information, and the like according to the driving operation of the driving simulator 60 are output. The steering angle information output from the driving simulator 60 is sent to the EPS ECU 42 mounted on the vehicle inspection device 1. The accelerator opening information output from the driving simulator 60 is sent to the rear wheel drive motor ECU 52 on which the vehicle inspection apparatus 1 is mounted. Brake pedal force information output from the driving simulator 60 is sent to the actuator controller 70. The brake depression force information may be brake depression amount information.

  The EPS ECU 42 determines a steering torque based on the steering angle information sent from the driving simulator 60, and drives and controls the assist motor 41 according to the determined steering torque. Further, the EPS ECU 42, based on the output signal of the linear displacement sensor, the axial displacement amount of the rack shaft (hereinafter referred to as “rack shaft displacement amount”) included in the EPS 40 and the axial displacement speed of the rack shaft. (Hereinafter referred to as “rack shaft displacement speed”) is measured and sent to the actuator controller 70.

  The rear wheel drive motor ECU 52 determines the torque command value of the rear wheel drive motor 51 based on the accelerator opening information sent from the driving simulator 60, and the rear wheel drive motor 51 according to the determined torque command value. Is controlled. The rear wheel drive motor ECU 52 measures the rotational speeds of the rear wheel axles 23S and 24S (hereinafter referred to as "axle rotational speed") based on the output signal of the rotational angle sensor, and the actuator controller. Send to 70.

  The actuator controller 70 includes a vehicle model 71 and a command value generation unit 72. The vehicle model 71 includes brake pedal force information output from the driving simulator 41, rack shaft displacement amount and rack shaft displacement speed sent from the EPS ECU 42, and axle rotation speed sent from the rear wheel drive motor ECU 52. input. Based on the input information, the vehicle model 71 generates the position / posture of the vehicle body, the position / posture of each wheel, and the external force applied to each axle according to the driving situation simulated by the driving simulator 41. To do.

  Based on the position / posture of the vehicle body generated by the vehicle model 71 and the position / posture of each wheel, the command value generation unit 72 sets the position / posture command values for the motion bases 3, 4, 5, 6, 7 respectively. Generate. The command value generation unit 72 generates a torque command value for each of the external force addition motors 31, 32, 33, and 34 based on the external force applied to each axle generated by the vehicle model 71.

  The position / posture command values for the motion bases 3, 4, 5, 6 and 7 generated by the command value generation unit 72 are the motion controllers 3C, 4C, and 4C of the corresponding motion bases 3, 4, 5, 6, and 7, respectively. 5C, 6C, 7C. Each of the motion controllers 3C, 4C, 5C, 6C, and 7C controls the corresponding actuator 13 based on the position / posture command value given from the command value generation unit 72. As a result, the movable bases 12 of the motion bases 3, 4, 5, 6, and 7 move so as to have a position / posture corresponding to the position / posture command value.

  Torque command values for the external force addition motors 31, 32, 33, and 34 generated by the command value generation unit 72 are given to the corresponding motor control devices 35, 36, 37, and 38, respectively. Each motor control device 35, 36, 37, 38 controls the corresponding external force addition motor 31, 32, 33, 34 based on the torque command value given from the command value generator 72. Thereby, motor torque according to the torque command value is generated from each of the external force addition motors 31, 32, 33, 34.

  As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented with another form. For example, in the above-described embodiment, the vehicle inspection apparatus 1 includes the test article mounting vehicle body 2, the first motion base (vehicle shaker) 3, and the four second motion bases (axle shakers) 4, 5, 5. 6 and 7, but the first motion base 3 may not be provided. In this way, the types that can be inspected are reduced, but a space can be created between the test article mounting body 2 and the floor 101.

  Further, in the above-described embodiment, each axle 21S, 22S, 23S, 24S is supported from the side of the test article mounting vehicle body 2, and each axle 21S, 22S, 23S, 24S is caused to move with 6 degrees of freedom. Four second motion bases 4, 5, 6, and 7 are used as the axle swinging device. However, each axle shaker may be a robot system including a robot arm that supports the axle from the side of the vehicle body for mounting the test article and causes the axle to move with 6 degrees of freedom.

  The present invention can be modified in various ways within the scope of the matters described in the claims.

  DESCRIPTION OF SYMBOLS 1 ... Test apparatus for vehicles, 2 ... Vehicle body for test article mounting, 3 ... 1st motion base (vehicle body shaking device), 4-7 ... 2nd motion base (axle shaking device), 11 ... Fixed base, 12 ... Movable base , 13 ... Actuator, 21S-24S ... Axle, 31-34 ... Motor for adding external force

Claims (5)

A vehicle body for mounting a test product on which four axles corresponding to the four wheels of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are mounted;
A test apparatus for a vehicle, including four axle shakers for supporting each axle from a side of the test article mounting vehicle body and causing each axle to move in six degrees of freedom.   The vehicle test apparatus according to claim 1, further comprising a vehicle body shaking device that supports the test article mounting body and causes the test article mounting body to move in six degrees of freedom. Four electric motors connected to the outer ends of the axles, respectively, for imparting rotational force to the axles;
3. The vehicle testing device according to claim 1, wherein each of the axle shaking devices supports each of the axles from a side of the test article mounting vehicle body via each of the electric motors.   The test apparatus for vehicles according to any one of claims 1 to 3, wherein each axle shaker is a motion base capable of motion with 6 degrees of freedom.   The vehicle testing device according to any one of claims 1 to 3, wherein each axle shaker is a robot system including a robot arm capable of moving with 6 degrees of freedom.

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