CN111380701B - Method for measuring unlocking performance of vehicle door - Google Patents

Method for measuring unlocking performance of vehicle door Download PDF

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Publication number
CN111380701B
CN111380701B CN202010329455.3A CN202010329455A CN111380701B CN 111380701 B CN111380701 B CN 111380701B CN 202010329455 A CN202010329455 A CN 202010329455A CN 111380701 B CN111380701 B CN 111380701B
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force
vehicle door
door
lock catch
pipe clamp
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CN111380701A (en
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刘雨路
叶华
谷军庆
刘强
薛海鹏
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles

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  • General Physics & Mathematics (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention discloses a method for measuring the unlocking performance of a vehicle door, which can acquire a force-displacement curve output by a control measurement system and comprises a vehicle door hinge mounting and fixing device, a vehicle door lock catch fixing and sealing counter force simulation device and a robot rigidity measurement system, wherein the vehicle door lock catch fixing and sealing counter force simulation device is loaded at a vehicle door a point, and the vehicle door a point is positioned near the lock catch point and can load the vehicle door in two directions vertical to the plane of the vehicle door.

Description

Method for measuring unlocking performance of vehicle door
Technical Field
The invention relates to the technical field of automobile body tests, in particular to a method for measuring unlocking performance of an automobile door.
Background
The unlocking operation of the car door is used and sensed by a conventional car customer in the using process, and if the unlocking process has the problems of unsmoothness, overlarge force value, overlong stroke and the like, the unlocking operation of the car door can strongly cause the customer to feel dislike. If the corresponding force-displacement curve can be measured during the unlocking process, the performance can be objectively measured and analyzed.
The following two conditions must be satisfied for measuring the door unlocking performance: the vehicle door is closed and is in an engaged state with the lock catch; the door is subjected to a sealing force within a design range. The traditional way of measuring the unlocking performance can only be measured on the entire car and when the door is closed, which can lead to the following problems:
1. common rigidity measuring equipment cannot enter a vehicle to be operated, so that when the unlocking performance of an internally-opened handle is measured, the maximum opening force can be generally measured only by a push-pull dynamometer in the industry, a force-displacement curve cannot be obtained, and the requirement of objective analysis cannot be met;
2. when the unlocking performance of the external-open handle is measured, the electric cylinder is adopted to carry out force-displacement measurement, only a linear motion result can be obtained, and a great error is generated between the result and the circular motion in the actual operation process;
3. the sealing counterforce is difficult to adjust to a design state, the load adjustment of the sealing strip needs to modify a mould and a material formula, the time cost and the cost are high, the inner gap of the vehicle door needs to be repeatedly installed and adjusted by experienced assembly personnel, and the situation that the sealing counterforce cannot be installed and adjusted in place all the time exists;
4. the whole vehicle resources are precious in the early development stage and need to be coordinated and shared with other specialties, and the vehicle door resources are easy to obtain.
In order to solve the problems, the patent provides a test method and a flexible test bench for measuring the unlocking performance of the vehicle door.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a flexible test bed for the unlocking performance of a vehicle door and a method for measuring the unlocking performance of the vehicle door, which are used for measuring the force-displacement curves of an inner opening handle and an outer opening handle in the unlocking process of the vehicle door.
The invention discloses a flexible test bed for vehicle door unlocking performance, which can acquire a force-displacement curve output by a control measurement system and comprises a vehicle door hinge mounting and fixing device, a vehicle door lock catch fixing and sealing counter force simulation device and a robot rigidity measurement system, wherein the vehicle door lock catch fixing and sealing counter force simulation device is loaded at a vehicle door a point, and the vehicle door a point is positioned near the lock catch point and can load a vehicle door in two directions vertical to the plane of the vehicle door.
In a preferred embodiment of the present invention, the door hinge mounting and fixing device includes a square steel pillar, the square steel pillar is provided with an upper hinge mounting plate and a lower hinge mounting plate, and the lower hinge mounting plate is adjustable in height.
In a preferred embodiment of the present invention, the door latch fixing and sealing reaction force simulator includes a six-axis adjusting mechanism, and the six-axis adjusting mechanism is connected with a latch capable of adjusting a spatial position and a loading mechanism capable of adjusting a height position.
In a preferred embodiment of the present invention, the six-axis adjusting mechanism includes a pipe column, a lockable sliding fit connection is made with a lock adjustment fixing pipe clamp, the lock adjustment fixing pipe clamp is connected with a Y-direction adjustment pipe clamp arranged perpendicular to the pipe column, the lockable sliding fit connection is made with a Y-direction adjustment pipe clamp, the Y-direction adjustment pipe clamp is connected with a Z-direction adjustment pipe clamp arranged parallel to the pipe column, the lockable sliding fit connection is made with a Z-direction adjustment pipe clamp, the Z-direction adjustment pipe clamp is connected with an X-direction adjustment pipe clamp arranged perpendicular to the Y-direction adjustment pipe clamp, the X-direction adjustment pipe clamp is provided with a lock installation pipe clamp and a lock installation plate, and the lock is installed on the lock installation plate.
In a preferred embodiment of the invention, the loading mechanism comprises a reaction force simulation fixed pipe clamp which is connected to the pipe column in a lockable sliding fit manner, a lead screw and a support which are arranged along a Y axis are arranged on the reaction force simulation fixed pipe clamp, the input end of the lead screw and the input end of the support are connected with a hand wheel, the output end of the lead screw and the output end of the support are connected with a force sensor support, and the force sensor support is connected with a force sensor and a rubber pressure head.
In a preferred embodiment of the invention, the robot rigidity measuring system comprises a 6-axis industrial robot, and a hand force sensor and a hand tool are connected to the movable end of the 6-axis industrial robot.
The invention also discloses a method for measuring the unlocking performance of the vehicle door, which uses the flexible test bench for the unlocking performance of the vehicle door, and measures the force-displacement curves of the inner opening handle and the outer opening handle in the unlocking process of the vehicle door through the flexible test bench for the unlocking performance of the vehicle door.
In a preferred embodiment of the present invention, the method comprises the steps of, firstly, mounting the door on the rack; simulating a sealing counter force borne by the vehicle door mounted on the vehicle body on the rack; driving a hand tool to perform unlocking operation by using a 6-axis robot, wherein the unlocking operation of the robot can be limited to circular motion, the robot provides displacement output, and a hand force sensor provides force output; and step four, measuring a force-displacement curve in the output process of the control system.
In a preferred embodiment of the present invention, specifically, step 1, the door a point is marked, and the input is provided by design or measured from a real vehicle to obtain FaMonitoring in a robot control measurement system; step 2, the vehicle door is fixed on the vehicle door hinge mounting and fixing device through a hinge; step 3, adjusting the car door lock catch and sealing counter forceThe simulation device is used for aligning the rubber pressure head to the mark point a and then locking all the pipe clamps; step 4, adjusting the pipe clamps and the pipe columns to enable the lock catches and the vehicle door to be in a meshed state, and then locking all the pipe clamps to enable the lock catches to be fixed in position; and 5, rotating the hand wheel, enabling the force sensor support, the force sensor and the rubber pressure head to perform linear motion on the screw rod and the support, and inputting the parameters of the force sensor into the control system when the parameters of the force sensor reach the parameters FaThen, the control measurement system feeds back, the hand wheel stops rotating at the moment, and the force provided by the rubber pressure head is the simulated sealing counter force; step 6, after the previous step is finished, equivalently, the car door is installed by simulating a real car, then the robot is taught, a hand tool is pulled to open the inside and outside handles of the car door, the hand tool is limited to circular motion during teaching, and the motion direction is ensured to be a tangential direction; and 7, after the teaching is finished, if the parameters of the force sensor change, repeating the step 4, if the parameters of the force sensor do not change, controlling the measurement system to start measurement, controlling the measurement system to automatically finish the measurement, and outputting a force-displacement curve.
In a preferred embodiment of the present invention, in step 1, the point a obtaining method comprises:
each force is in balance state M to the hinge axis momentInverse direction＝MLock with a locking mechanismApplying a force F at point aaLet M standFa＝MInverse directionThe F lock is ensured to be in the size of the real vehicle state, FaCalculated output by design or obtained by real-vehicle measurement, by applying-F at point a, also after removal of the door latchaWhen the vehicle door is closed to the same position, M is the same at the opposite moment, and F can be measuredaAnd (5) the magnitude of the force value.
The invention has the beneficial effects that: the invention has simple structure and convenient use, and effectively solves the problem that the arc motion of the existing inner and outer opening operating mechanisms of the automobile door cannot measure the output force-displacement curve through the reasonable arrangement of the automobile door hinge mounting and fixing device, the automobile door lock catch fixing and sealing counter force simulation device and the robot rigidity measuring system and the reasonable selection of the a point of the automobile door; meanwhile, the complex sealing counterforce of the vehicle door on the vehicle body is simulated and replaced at a certain point of the vehicle door, and the magnitude of the simulated counterforce can be adjusted at will, so that the relevant parameters of the unlocking performance can be adjusted conveniently and controllably, and the vehicle door debugging time and cost are greatly shortened; furthermore, the hinge mounting surface has certain compatibility, most of vehicle door hinges can be mounted and fixed, the degree of freedom of the lock catch mounting surface 6 is adjustable, the lock catch mounting surface can be meshed with door locks of most of vehicle doors, the device can complete the unlocking performance measurement test of all conventional vehicle types, the universality is extremely high, and the test cost cannot be increased due to vehicle types; furthermore, the invention adopts the mode of measuring displacement and force by the industrial robot and the force sensor, the motion of the industrial robot is programmable, the degree of freedom is very high, and compared with the traditional linear force-displacement, force-displacement curves of more complex motions can be measured by the device.
Drawings
FIG. 1 is a schematic view of a vehicle door unlocking performance flexible test bed according to the present invention;
FIG. 2 is a schematic view of a door hinge mounting fixture of a flexible test bed for door unlocking performance according to the present invention;
FIG. 3 is a schematic view of a door lock catch fixing and sealing counter force simulation device of a flexible test bed for door unlocking performance according to the present invention;
FIG. 4 is a schematic view of a loading mechanism in a door lock catch fixing and sealing counter force simulation device of a flexible test bed for door unlocking performance according to the present invention;
FIG. 5 is a schematic diagram of a robot rigidity measurement system of a flexible test bench for vehicle door unlocking performance according to the present invention;
FIG. 6 is a schematic view of the determination of point a in the method for measuring the unlocking performance of the vehicle door according to the present invention;
FIG. 7 is a schematic view of the determination of point a in the method for measuring the unlocking performance of the vehicle door according to the present invention;
fig. 8 is a flowchart of a method for measuring unlocking performance of a vehicle door according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention discloses a flexible test bed for vehicle door unlocking performance, which can acquire a force-displacement curve output by a control measurement system and comprises a vehicle door hinge mounting and fixing device 30, a vehicle door lock catch fixing and sealing counter force simulation device 31 and a robot rigidity measurement system 32, wherein the vehicle door lock catch fixing and sealing counter force simulation device 31 is loaded at a vehicle door a point, and the vehicle door a point is positioned near the lock catch point and can load a vehicle door in two directions vertical to the plane of the vehicle door.
Door hinge mount fixing device 30 includes square steel stand 1, be provided with hinge mount board 2 and lower hinge mount board 3 on the square steel stand 1, lower hinge mount board 3 height-adjustable, square steel stand 1 has two installation interfaces from top to bottom, it is used for fixed L shape to go up hinge mount board 2 to go up the installation interface, lower installation interface is used for fixed L shape hinge mount board 3 down, on, lower installation interface is the through-hole, it is the round hole to go up the installation interface through-hole, lower installation interface through-hole is the slotted hole, a door for the different span hinges of adaptation, on, lower installation interface all adopts bolt and nut to connect. The other sides of the L shapes of the upper hinge mounting plate 2 and the lower hinge mounting plate 3 are both provided with hinge mounting holes (with threads) which are fixed with the vehicle door hinge by bolts.
The door latch fixing and sealing reaction force simulator 31 includes a six-axis adjusting mechanism, and the six-axis adjusting mechanism is connected with a latch 13 capable of adjusting a spatial position and a loading mechanism capable of adjusting a height position.
The six-axis adjusting mechanism comprises a Z-direction fixed pipe column 4, a lockable sliding fit on the Z-direction fixed pipe column 4 is connected with a lock catch adjusting fixed pipe clamp 5, the lock catch adjusting fixed pipe clamp 5 is connected with a Y-direction adjusting pipe column 6 vertically arranged with the Z-direction fixed pipe column 4, the Y-direction adjusting pipe column 6 is connected with a lockable sliding fit on a Y-direction adjusting pipe clamp 7, the Y-direction adjusting pipe clamp 7 is connected with a Z-direction adjusting pipe column 8 parallelly arranged with the Z-direction fixed pipe column 4, the Z-direction adjusting pipe column 8 is connected with a lockable sliding fit on a Z-direction adjusting pipe clamp 9, the Z-direction adjusting pipe clamp 9 is connected with an X-direction adjusting pipe clamp 10 vertically arranged with the Y-direction adjusting pipe column 6, a lock catch mounting pipe clamp 11 and a lock catch mounting plate 12 are arranged on the X-direction adjusting.
The loading mechanism comprises a reaction force simulation fixed pipe clamp 14 which is connected to the Z-direction fixed pipe column 4 in a locking sliding fit mode, a lead screw and a support 16 which are arranged along the Y axis are arranged on the reaction force simulation fixed pipe clamp 14, the input end of the lead screw and the input end of the support 16 are connected with a hand wheel 15, the output end of the lead screw and the output end of the support 16 are connected with a force sensor support 17, and the force sensor support 17 is connected with a force sensor 18 and a.
Wherein the locking adjusting fixed pipe clamp 5, the Y-direction adjusting pipe clamp 7 and the Z-direction adjusting pipe clamp 9 are respectively provided with a fastening bolt in two directions, the locking mounting pipe clamp 11 and the counter force simulating fixed pipe clamp 14 are respectively provided with a fastening bolt in one direction, after the bolts in a certain direction are screwed, the pipe clamp is fixed in the direction, after the bolt is loosened, the locking adjusting fixed pipe clamp 5 can slide and rotate on the Y-direction adjusting pipe column 6, the Y-direction adjusting pipe clamp 7 can slide and rotate on the Z-direction adjusting pipe column 8, the Z-direction adjusting pipe clamp 9 can slide and rotate on the X-direction adjusting pipe clamp 10, this forms a support X, Y, Z for six self-adjusting latch mounting surfaces for securing the latch mounting plate 12, 4 threaded holes in the latch mounting plate clip 11, the lock catch mounting plate 12 is connected with the lock catch 13 through a bolt, and the lock catch mounting plate 12 is provided with two threaded holes.
After the bolts of the reaction force simulation fixing pipe clamps 14 are screwed down, the reaction force simulation fixing pipe clamps 14 are fixed on the pipe-shaped support columns 4, 4 threaded holes are formed in the reaction force simulation fixing pipe clamps 14 and fixed with the lead screw and the support 16 through the bolts, the lead screw is coaxial with the hand wheel 15, when the hand wheel 15 is rotated, the force sensor support 17 can move linearly on the lead screw, the force sensor 18 is installed on the force sensor support 17, threaded holes are formed in the bottom of the force sensor 18, a threaded rod is arranged at the head of the rubber pressure head 19, and the force sensor 18 is in threaded connection with the rubber pressure head 19.
The robot rigidity measuring system 32 comprises a 6-axis industrial robot 20, a hand force sensor 21 and a hand tool 22 are connected to the movable end of the 6-axis industrial robot 20, the robot rigidity measuring system provides displacement parameters through the robot 20, the force sensor 21 provides the force parameters, the hand tool 22 is used for simulating a finger to pull an unlocking handle, the control measuring system 23 controls and monitors an unlocking motion process, then a force displacement curve in the motion process is output, and the control measuring system simultaneously detects the parameter size of the force sensor 18 and feeds back the parameter size.
The invention also discloses a method for measuring the unlocking performance of the vehicle door, which uses the flexible test bench for the unlocking performance of the vehicle door, and measures the force-displacement curves of the inner opening handle and the outer opening handle in the unlocking process of the vehicle door through the flexible test bench for the unlocking performance of the vehicle door.
The method comprises the following steps that firstly, a vehicle door is installed on a rack; simulating a sealing counter force borne by the vehicle door mounted on the vehicle body on the rack; driving a hand tool to perform unlocking operation by using a 6-axis robot, wherein the unlocking operation of the robot can be limited to circular motion, the robot provides displacement output, and a hand force sensor provides force output; and step four, measuring a force-displacement curve in the output process of the control system.
In particular, the method comprises the following steps of,
step 1, marking a point a of a vehicle door, inputting a design provided or a measured real vehicle to obtain FaMonitoring in a robot control measurement system;
step 2, the vehicle door is fixed on the vehicle door hinge mounting and fixing device through a hinge;
step 3, adjusting the vehicle door lock catch and the sealing counter-force simulation device, aligning the rubber pressure head to the mark point a, and then locking the pipe clamp;
step 4, adjusting the pipe clamp and the pipe column to enable the lock catch and the vehicle door to be in a meshed state, and then locking the pipe clamp to enable the lock catch to be fixed in position;
and 5, rotating the hand wheel, enabling the force sensor support, the force sensor and the rubber pressure head to perform linear motion on the screw rod and the support, and inputting the parameters of the force sensor into the control system when the parameters of the force sensor reach the parameters FaThen, the control measurement system feeds back, the hand wheel stops rotating at the moment, and the force provided by the rubber pressure head is the simulated sealing counter force;
step 6, after the previous step is finished, equivalently, the car door is installed by simulating a real car, then the robot is taught, a hand tool is pulled to open the inside and outside handles of the car door, the hand tool is limited to circular motion during teaching, and the motion direction is ensured to be a tangential direction;
and 7, after the teaching is finished, if the parameters of the force sensor change, repeating the step 4, if the parameters of the force sensor do not change, controlling the measurement system to start measurement, controlling the measurement system to automatically finish the measurement, and outputting a force-displacement curve.
In step 1, the point a obtaining method comprises the following steps:
because the simulated sealing counterforce borne by the vehicle door on the vehicle body is high in cost (the side wall of the white vehicle body is cut to obtain a vehicle door opening), the universality is poor (different vehicle types need different door openings), the invention also provides a method for equivalently replacing the sealing counterforce borne by the vehicle door by adopting the simulated counterforce, and the specific principle is as follows:
the main stress conditions for the door mounted on the body are shown in fig. 2 (the hinge forces do not affect the simplification here): counter force F of sealing stripInverse direction(ii) a Door lock catch tension FLock with a locking mechanism(ii) a Upper hinge tension FOn the upper part(ii) a Lower hinge tension FLower part. Wherein the force FLock with a locking mechanismDirectly related to unlocking performance, but the force cannot be directly measured, and the counter force F of the door sealing stripInverse directionThe surface pressure and the direction are different, the size is different, the direct measurement cannot be carried out, and the direct simulation on a rack is very difficult. Each force is in balance state M to the hinge axis momentInverse direction＝MLock with a locking mechanismApplying a force F at point aaLet M standFa＝MInverse directionCan ensure FLock with a locking mechanismIs the size in the real vehicle state, FaCalculated output by design or obtained by real-vehicle measurement, by applying-F at point a, also after removal of the door latchaSo that when the door is closed to the same position, MInverse directionAt this point, the same, F can be measuredaAnd (5) the magnitude of the force value.
It should be understood that the above are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention disclosed herein should be covered within the scope of the present invention.

Claims (4)

1. A method for measuring unlocking performance of a vehicle door is characterized by comprising the following steps: the device can obtain a force-displacement curve output by a control measurement system, and comprises a door hinge mounting and fixing device (30), a door lock catch fixing and sealing counter force simulation device (31) and a robot rigidity measurement system (32), wherein the door lock catch fixing and sealing counter force simulation device (31) is loaded at a door a point, and the door a point is positioned near the lock catch point and can load the door in two directions vertical to the plane of the door; the car door lock catch fixing and sealing counter force simulation device (31) comprises a six-axis adjusting mechanism, and a lock catch (13) capable of adjusting the spatial position and a loading mechanism capable of adjusting the height position are connected to the six-axis adjusting mechanism; the six-axis adjusting mechanism comprises a Z-direction fixed pipe column (4), a lockable sliding fit connection lock catch adjusting fixed pipe clamp (5) is arranged on the Z-direction fixed pipe column (4), a Y-direction adjusting pipe column (6) which is vertically arranged with the Z-direction fixed pipe column (4) is connected on the lock catch adjusting fixed pipe clamp (5), a lockable sliding fit connection Y-direction adjusting pipe clamp (7) is arranged on the Y-direction adjusting pipe column (6), a Z-direction adjusting pipe column (8) which is parallel to the Z-direction fixed pipe column (4) is connected on the Y-direction adjusting pipe clamp (7), a lockable sliding fit connection Z-direction adjusting pipe clamp (9) is arranged on the Z-direction adjusting pipe column (8), an X-direction adjusting pipe clamp (10) which is vertically arranged with the Y-direction adjusting pipe column (6) is connected on the Z-direction adjusting pipe clamp (9), and a lock catch mounting pipe clamp (11) and a lock catch mounting plate (12) are arranged on the X-direction adjusting pipe clamp, the lock catch (13) is arranged on the lock catch mounting plate (12); the loading mechanism comprises a counter force simulation fixed pipe clamp (14) which is connected to a Z-direction fixed pipe column (4) in a locking sliding fit mode, a lead screw and a support (16) which are arranged along a Y axis are arranged on the counter force simulation fixed pipe clamp (14), the input end of the lead screw and the support (16) is connected with a hand wheel (15), the output end of the lead screw and the support is connected with a force sensor support (17), and the force sensor support (17) is connected with a force sensor (18) and a rubber pressure head (19);
the force-displacement curve of an inner opening handle and an outer opening handle in the unlocking process of the vehicle door is measured through a flexible test bench for the unlocking performance of the vehicle door;
in particular, the method comprises the following steps of,
step 1, marking a point a of a vehicle door, inputting a design provided or a measured real vehicle to obtain FaMonitoring in a robot control measurement system;
step 2, the vehicle door is fixed on the vehicle door hinge mounting and fixing device through a hinge;
step 3, adjusting the vehicle door lock catch and the sealing counter-force simulation device, aligning the rubber pressure head to the mark point a, and then locking all the pipe clamps;
step 4, adjusting the pipe clamps and the pipe columns to enable the lock catches and the vehicle door to be in a meshed state, and then locking all the pipe clamps to enable the lock catches to be fixed in position;
and 5, rotating the hand wheel, enabling the force sensor support, the force sensor and the rubber pressure head to perform linear motion on the screw rod and the support, and inputting the parameters of the force sensor into the control system when the parameters of the force sensor reach the parameters FaThen, the control measurement system feeds back, the hand wheel stops rotating at the moment, and the force provided by the rubber pressure head is the simulated sealing counter force;
step 6, after the previous step is finished, equivalently, the car door is installed by simulating a real car, then the robot is taught, a hand tool is pulled to open the inside and outside handles of the car door, the hand tool is limited to circular motion during teaching, and the motion direction is ensured to be a tangential direction;
step 7, after the teaching is finished, if the parameters of the force sensor change, repeating the step 4, if the parameters of the force sensor do not change, controlling the measurement system to start measurement, controlling the measurement system to automatically finish the measurement, and outputting a force-displacement curve;
in step 1, the point a obtaining method comprises the following steps:
each force is in balance state M to the hinge axis momentInverse direction=MLock with a locking mechanismApplying a force F at point aaLet M standFa=MInverse directionCan ensure FLock with a locking mechanismIs the size in the real vehicle state, FaCalculated output by design or obtained by real-vehicle measurement, by applying-F at point a, also after removal of the door latchaSo that when the door is closed to the same position, MInverse directionWhen the same is true, -F is measuredaAnd (5) the magnitude of the force value.
2. The vehicle door unlocking performance measuring method according to claim 1, characterized in that: door hinge mount fixing device (30) are including square steel stand (1), be provided with hinge mount board (2) and lower hinge mount board (3) on square steel stand (1), hinge mount board (3) height-adjustable down.
3. The vehicle door unlocking performance measuring method according to claim 1, characterized in that: the robot rigidity measuring system (32) comprises a 6-axis industrial robot (20), and a hand force sensor (21) and a hand tool (22) are connected to the movable end of the 6-axis industrial robot (20).
4. The vehicle door unlocking performance measuring method according to claim 3, characterized in that: the method comprises the following steps that firstly, a vehicle door is installed on a rack; simulating a sealing counter force borne by the vehicle door mounted on the vehicle body on the rack; driving a hand tool to perform unlocking operation by using a 6-axis robot, wherein the unlocking operation of the robot can be limited to circular motion, the robot provides displacement output, and a hand force sensor provides force output; and step four, measuring a force-displacement curve in the output process of the control system.
CN202010329455.3A 2020-04-23 2020-04-23 Method for measuring unlocking performance of vehicle door Active CN111380701B (en)

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