JP2000193562A - Loading device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a loading device to easily measure the operating characteristics of various types of auxiliary devices by one device, in a loading device used at the time of detecting the operating characteristics of auxiliary devices for steering automobile. SOLUTION: The loading device is provided with loading means 11 and 31 with load transferring members 13 and 33 provided in such a sway as to be movable in directions coming into contact with and being separated from an output shaft 202 to come into contact with the end faces of the output shaft 202 to transfer load and biasing members 15 and 35 to bring load into action on the load transferring members 13 and 33. The loading device is also provided with driving means 18 and 38 to move the loading means 11 and 31 in a directions coming into contact with and being separated from the output shaft 202, first location detecting means 26, 46, and 4a to detect the location of the load transferring members 13 and 33, second location detection means 20, 40, and 4b to detect the location of the output shaft 202, and a control means 4c to control the operation of the driving means 18 and 38. By moving the loading means 11 and 31, it is possible to change the spring coefficients of the biasing members 15 and 35 in appearance.

Description

DETAILED DESCRIPTION OF THE INVENTION TECHNICAL FIELD OF THE INVENTION

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load device used for detecting operating characteristics of a drive assist device in a power steering for an automobile.

[0002]

2. Description of the Related Art Auxiliary devices used for power steering for automobiles are provided in a steering gear device and assist the operation of an output shaft connected to a steering linkage by a hydraulic or electric motor. Provided between the gear device,
Some are provided to assist the rotation of the steering shaft. FIG. 4 shows an outline of the auxiliary device according to the embodiment, and FIG. 5 shows an outline of the auxiliary device according to the embodiment. FIG.
Shows the entire steering gear device in which the auxiliary device is incorporated, but in the following description, for convenience of explanation,
The entire steering gear device including the auxiliary device is referred to as an auxiliary device.

[0003] As shown in FIG. 4, an auxiliary device 200 according to the above-described embodiment includes a cylinder 201 and a built-in cylinder 201, which linearly drives a rotational driving force (torque) transmitted to an input shaft 203 by a steering shaft 204. Steering gear (not shown) for converting to force (thrust)
And output shafts 202, 202 connected to the steering gear portion (not shown) and reciprocating in a linear direction to transmit the linear driving force to the steering linkage; To the output shafts 202 and 2 by the pressure of the hydraulic oil.
02 is provided with a hydraulic mechanism (not shown) for assisting the reciprocating movement of the steering shaft 02. The torque input from the steering shaft 204 is converted into a linear driving force by the steering gear unit (not shown). The increased linear driving force is increased by the hydraulic mechanism (not shown), and the increased linear driving force is output from the output shafts 202, 202.

On the other hand, as shown in FIG. 5, an auxiliary device 210 according to the above includes an input shaft 212 connected to the steering shaft, an output shaft 213 connected to the steering gear device, and the input shaft 212 and the output shaft. 213
211 for rotatably supporting the motor, a drive motor 214, and the power of the drive motor 214
13 and a drive gear (not shown) for transmitting to
The torque input from the input shaft 212 is
, And the increased torque is output from the output shaft 213.

By the way, the larger the steering wheel is rotated and the more the tire is tilted with respect to the traveling direction of the vehicle, the greater the force required to rotate the steering wheel. Therefore, the above-described auxiliary devices 200, 2
10 is set so that the assisting force increases as the rotation angle of the steering increases. That is, in the auxiliary device 200 according to the above, as shown in FIG.
The linear driving force (hereinafter referred to as “thrust”) of the output shafts 202 and 202 gradually increases as the linear movement amount of the output shafts 2 and 202 increases. As shown in FIG. 7, the output torque of the output shaft 213 is gradually increased as the rotation angle of the steering wheel, that is, the rotation angle of the output shaft 213 increases.

[0006] Since the operating characteristics of these auxiliary devices 200 and 210 are greatly related to the basic quality of the vehicle, it is usually determined whether the auxiliary devices 200 and 210 have the intended operating characteristics before the vehicle is mounted on the vehicle. Inspection has been performed in advance. FIGS. 8 and 9 show a schematic configuration of this inspection apparatus.

FIG. 8 is a front view showing a schematic configuration of an inspection device for inspecting the operation characteristics of the auxiliary device 200. As shown in FIG. 8, the inspection device 220 includes a rotary encoder. The input shaft 20 of the auxiliary device 200
3, a servomotor 221 for transmitting a predetermined torque to the input shaft 203, and a first load device 2 connected to the distal ends of the output shafts 202, 202 of the auxiliary device 200.
30 and a second load device 240, a movement amount detecting means (not shown) for detecting a movement amount of the output shaft 202, and a hydraulic pressure supply for supplying a predetermined oil pressure to the switching valve 205 of the auxiliary device 200. Means (not shown) for controlling the operation of the servomotor 221 and the auxiliary device 20
And a processing / control device 223 for detecting the operating characteristic of 0. Note that the auxiliary device 200 is appropriately supported by support means (not shown).

The first load device 230 is coaxial with the output shaft 202 and is movably movable in the axial direction via a load transmission shaft 232 provided to face the output shaft 202 and bearings 235 and 236. A housing-like main body 231 supporting the load transmission shaft 232, a movable body 233 provided in the main body 231 while being axially passed by the load transmission shaft 232,
The compression coil spring 234 is also provided in the main body 231 and urges the movable body 233 in the direction indicated by the arrow D. The load cell 237 is fixed to the end face of the load transmission shaft 232 on the side indicated by the arrow D. The load transmitting shaft 232 is provided with a stepped large-diameter portion 232a.
The engagement between the movable body 2a and the movable body 233 allows the load transmission shaft 232 to be urged in the direction of arrow D by the compression coil spring 234 via the movable body 233.

The second load device 240 has the same configuration as the first load device 230, and includes a main body 241, a load transmission shaft 242, a movable body 243, a compression coil spring 244, and a load cell 247. , Bearing 245,
246 and the like. When the large diameter portion 242a of the load transmission shaft 242 and the movable body 243 are engaged with each other, the load transmission shaft 242 is urged in the arrow C direction by the compression coil spring 244 via the movable body 243. Has become.

Further, the processing / control device 223 includes the moving amount detecting means (not shown) and the load cell 23.
7 and 247, from which detection data is inputted. As described above, the operation of the servo motor 221 is controlled, and the movement is detected by the movement amount detection means (not shown). The operating characteristics of the auxiliary device 200 are detected based on the amount of movement of the output shaft 202 and the load detected by the load cells 237 and 247.

According to the inspection device 220 having the above configuration, by driving the servo motor 221, a predetermined torque is applied to the input shaft 203 of the auxiliary device 200.
Is input to In the auxiliary device 200, the input torque is converted into thrust by a built-in steering gear unit (not shown), and the converted thrust is output from the output shafts 202, 202. That is, when the servo motor 221 rotates in the direction of arrow A, the output shafts 202 and 20 are turned off.
2 moves in the direction of arrow C, and when the servomotor 221 rotates in the direction of arrow B, the output shafts 202, 202 move in the direction of arrow D. Further, torque is input by the servo motor 221 and the output shafts 202, 20
2 moves in the direction of arrow CD, the switching valve 2
Hydraulic oil is supplied to the auxiliary device 210 through the oil supply device 05, and the hydraulic pressure of the hydraulic oil causes the output shafts 202 and 202 to indicate the arrow C.
The movement in the -D direction is assisted.

If the servo motor 221 rotates in the direction of arrow B and the output shafts 202 move in the direction of arrow D, the load cell 247 is pressed by the tip of the output shaft 202, This load cell 24
7 together with the load transmitting shaft 242 and the movable body 243
The compression coil spring 244 provided between the movable body 243 and the main body 241 is compressed. As a result, a biasing force in the direction of arrow C is generated in the compression coil spring 244 proportional to the amount of movement of the movable body 243, that is, the amount of compression of the compression coil spring 244, and the output shaft 202 is connected to the load cell 2
The urging force is received as a reaction force via 47, and the load cell 247 detects the urging force. In other words, the output shaft 202 moves the output shaft 202, that is,
The load cell 24 has a thrust greater than the urging force of the compression coil spring 247 in proportion to the compression amount of the compression coil spring 244.
7 is pressed, and the load cell 247
Forty-four biasing forces are detected.

Next, when the output torque of the servo motor 221 is gradually reduced, the compression coil spring 244
Is superior to the thrust in the direction of arrow D generated by the servomotor 221, whereby the output shaft 202 moves in the direction of arrow C, and the output shaft 202 finally returns to the original position. Then, also in this return process, similarly, the thrust acting on the output shaft 202 is detected by the load cell 247.

Conversely, when the servomotor 221 rotates in the direction of arrow A and the output shaft 202 moves in the direction of arrow C, the load transmission shaft 232 and the movable body 233 move in the direction of arrow C. The compression coil spring 234 is compressed, and the output shaft 202 causes the load cell 237 to move with a thrust greater than the urging force of the compression coil spring 234 in proportion to the amount of movement of the output shaft 202, that is, the amount of compression of the compression coil spring 234. When pressed, the load cell 237 detects the urging force of the compression coil spring 234.

When the output torque of the servo motor 221 is gradually reduced, the compression coil spring 234
Is greater than the thrust in the direction of arrow C generated by the servomotor 221, whereby the output shaft 202 moves in the direction of arrow D, and the output shaft 202 finally returns to its original position, In this return process, the thrust acting on the output shaft 202 is detected by the load cell 237.

As described above, according to the inspection device 220, the output shafts 202, 202 of the auxiliary device 200 increase in proportion to the amount of movement thereof, and
A load in the opposite direction to the input-side thrust acting on the output shafts 202 and 202 is applied to the output shafts 202 and 202 by the compression coil springs 234 and 244.
34, 244 are applied to the output shafts 202, 20.
The thrust is detected by the load cells 237 and 247, and the moving amount of the output shafts 202 and 202 is detected by moving amount detecting means (not shown). The processing / control device 223 detects whether or not the thrust-movement amount characteristic is provided.

On the other hand, FIG. 9 is a front view showing a schematic configuration of an inspection device for checking the operating characteristics of the auxiliary device 210. As shown in FIG. 9, the inspection device 250 includes a rotary encoder. Input shaft 2 of the auxiliary device 210
A servomotor 251 connected to the input shaft 212 to input a predetermined torque to the input shaft 212;
0, and a load unit 254 connected to the other side of the torque sensor 253.
And a processing / control device 259 for controlling the operation of the servo motor 251 and detecting the operating characteristics of the auxiliary device 210. The auxiliary device 210 is appropriately supported by supporting means (not shown).

The torque sensor 253 has a rotating shaft provided with a strain gauge. By detecting the torsional strain generated on the rotating shaft by the strain gauge, the torque acting on the rotating shaft can be detected. It has become.

The load section 254 includes a rotating shaft 255 having one end connected to the torque sensor 253 and a rotating shaft 2.
A bearing 256 rotatably supporting the other end of the shaft 55, a pulley 257 provided at an intermediate position of the rotary shaft 255, a wire rope 258 wound around the pulley 257, and connected to both ends of the wire rope 258. A first load device 260 and a second load device 270.

The first load device 260 supports the load transmitting shaft 262 provided in a direction orthogonal to the rotating shaft 255 and the load transmitting shaft 262 movably in the axial direction via bearings 265 and 266. A housing-like main body 261 and the main body 261 in a state where the main body 261 is passed through the load transmitting shaft 262.
And a compression coil spring 264 that is also provided in the main body 261 and urges the movable body 263 in the direction of arrow G. The load transmitting shaft 2
62 is provided with a step-shaped large-diameter portion 262a. When the large-diameter portion 262a and the movable body 263 are engaged with each other, the load transmission shaft 262 is connected to the compression coil via the movable body 263. The spring 264 is urged in the direction of arrow G. And the load transmission shaft 262
One end of the wire rope 258 is fixed to an end on the side of the arrow H in FIG.

The second load device 270 has the same structure as the first load device 260, and includes a main body 271, a load transmission shaft 272, a movable body 273, a compression coil spring 274, and a bearing 275. , 276 and the like. The large diameter portion 272a of the load transmitting shaft 272 and the movable body 273 engage with each other, so that the load transmitting shaft 272
Is urged in the direction of arrow H by the compression coil spring 274 via the movable body 273. The wire rope 2 is attached to the end of the load transmission shaft 272 on the side indicated by the arrow G.
The other end of 58 is fixed.

Further, the processing / control device 259 is connected to the rotary encoder of the servo motor 251 and the torque sensor 253, from which detection data is inputted, and controls the operation of the servo motor 251. In addition to the control, the operating characteristics of the auxiliary device 210 are detected based on the rotation angle of the output shaft 213 detected by the rotary encoder and the torque detected by the torque sensor 253.

According to the inspection device 250 having the above configuration, by driving the servo motor 251, a predetermined torque is applied to the input shaft 212 of the auxiliary device 210.
Is input to In the auxiliary device 210, the input shaft 21
An auxiliary torque corresponding to the rotation angle of 2 is added by the drive motor 214, and a torque obtained by adding the auxiliary torque to the input torque is output from the output shaft 213.

The torque output from the output shaft 213 is transmitted to the rotary shaft 255 via the output torque sensor 253, whereby the rotary shaft 255 is rotated in the direction of arrow E or F. Assuming that the servo motor 2
51 causes the input shaft 212 to rotate in the direction of arrow E,
When the rotary shaft 255 rotates in the direction of arrow E with this, the wire rope 258 fixed to the second load device 270 is wound around the pulley 257 and the arrow G
, And the load transmitting shaft 272 connected thereto and the movable body 273 engaged with the load transmitting shaft 272 similarly move in the arrow G direction. Thereby, the main body 271
The compression coil spring 274 is compressed by gradually narrowing the interval between the coil 274 and the movable body 273, and a tension is generated in the wire rope 258 by an urging force proportional to the compression amount of the compression coil spring 274. It receives torque in the direction indicated by F.

The torque sensor 253 is driven by an urging force proportional to the amount of compression of the compression coil spring 274.
A torsional strain is generated on the rotating shaft incorporated in the motor, and the torsional strain is detected by the strain gauge, and the torque acting on the rotating shaft, that is, the torque acting on the rotating shaft 255 is detected.

On the other hand, the wire rope 258 on the first load device 260 side is sent out toward the first load device 260 side and relaxed as the rotary shaft 255 rotates in the direction of arrow E. Therefore, the load transmitting shaft 262 and the movable body 263 do not move, and the urging force of the compression coil spring 264 does not act on the rotating shaft 255.

Next, when the output torque of the servo motor 251 is gradually reduced, the compression coil spring 274
Torque generated by the urging force of the servo motor 25
1 to thereby rotate the rotary shaft 255 in the direction indicated by the arrow F.
Finally returns to its original position before rotation. Then, in this return process, similarly, the torque acting on the rotating shaft 255 is detected by the torque sensor 253.

Conversely, the input shaft 212 is rotated in the direction indicated by the arrow F by the servo motor 251,
Is rotated in the direction of arrow F, the wire rope 258 fixed to the first load device 260 is wound by the pulley 257, moves in the direction of arrow H, and is connected to the same. The load transmitting shaft 262 and the movable body 263 engaged with the load transmitting shaft 262 move in the direction indicated by the arrow H to compress the compression coil spring 264.
4 by the urging force proportional to the compression amount.
5 is urged in the direction of arrow E, and the torque acting on the rotating shaft 255 is detected by the torque sensor 253. On the other hand, the wire rope 258 on the second load device 270 side is
Since the rotary shaft 255 is rotated from the pulley 257 toward the second load device 270 and relaxed with the rotation of the rotary shaft 255 in the direction indicated by the arrow F, the urging force of the compression coil spring 274 acts on the rotary shaft 255. Absent.

When the output torque of the servo motor 251 is gradually reduced, the compression coil spring 264
Torque generated by the urging force of the servo motor 251
, The rotation shaft 255 rotates in the direction of arrow E, and the rotation shaft 255 finally returns to its original position before rotation, and the torque acting on the rotation shaft 255 in this return process. Is the torque sensor 2
53.

As described above, according to the inspection device 250, the torque (load) of the output shaft 213 of the auxiliary device 210 is increased proportionally in accordance with the rotation angle thereof, and is in the direction against the input torque. The compression coil spring 264 or 27
4, this compression coil spring 264 or 27
4 is detected by the torque sensor 253 as the output torque of the output shaft 213, and it is determined whether or not the auxiliary device 210 has the torque-rotation angle characteristic as shown in FIG. It is detected by the control device 259.

[0031]

The required operating characteristics of the above-mentioned auxiliary devices 200 and 210 are not uniform in all the vehicles to be mounted, and differ depending on the weight of the vehicle and the displacement of the engine. (FIGS. 6 and 7).

Therefore, the above-described conventional inspection device 220,
When checking whether the auxiliary devices 200 and 210 have predetermined operating characteristics using the 250, the first load devices 230 and 260 and the second load device 2
Compression coil spring 2 provided in each of 40 and 270
It is necessary to appropriately change 34, 264 and 244, 274 to those having a spring coefficient capable of detecting the operation characteristics.

However, the compression coil springs 234, 24
In order to operate the 4,264,274 safely and properly, the main body 231,241,261,
For example, the compression coil springs 234, 2
In replacing 44, 264, 274, conventionally, it took a long time to disassemble the main bodies 231, 241, 261, 271 and the like, and the work was not easy.

In particular, in the field of automobiles, there are many models, and the operating characteristics required for the auxiliary devices 200 and 210 are accordingly various. Such problems were not negligible.

The present invention has been made in view of the above circumstances, and is a load device used for detecting the operating characteristics of an auxiliary device for an automobile steering. It is an object of the present invention to provide a load device that can be easily measured with the device described above.

[0036]

According to the first aspect of the present invention, there is provided a load device for detecting an operating characteristic of an assisting device for an automobile, and a load device for inputting the load. A shaft and an output shaft, wherein the steering is provided so as to convert torque input from the input shaft into axial thrust of the output shaft and transmit the thrust to the output shaft. A load transmitting device for applying a load, the load transmitting member being provided movably in a direction approaching and separating from the output shaft, and transmitting a load by contacting an end surface of the output shaft, and the load transmitting member. A load unit having an urging member for applying a load in a load direction to the load shaft; a driving unit for moving the load unit in a direction approaching and separating from the output shaft; and detecting a position of the load transmitting member. 1 position detecting means, second position detecting means for detecting the position of the output shaft, and the driving means based on position data detected by the first position detecting means and the second position detecting means. And control means for controlling the operation of the control unit. still,
The biasing member includes a spring member, an elastic body such as rubber, an actuator operated by compressed air, and the like (hereinafter, the same applies to the present invention).

According to the present invention, first, the output shaft of the steering moves in the axial direction with the thrust increased by the action of the auxiliary device, and the end face thereof comes into contact with the load transmitting member and presses it. I do. Thereby, the load transmitting member moves together with the output shaft, and the urging member is compressed or expanded, and the urging force of the urging member, which changes proportionally according to the amount of compression or expansion, is transmitted via the load transmitting member. Acts as a reaction force on the output shaft.

At the same time, the position of the load transmitting member is detected by the first position detecting means, the position of the output shaft is detected by the second position detecting means, and detected by the first position detecting means. Position data of load transmitting members,
And the control unit controls the operation of the driving unit based on the position data of the output shaft detected by the second position detection unit, and
The load means is moved in a direction approaching or moving away from the output shaft, or is stopped.

When the load means is moved in a direction approaching the output shaft, the urging member is compressed or expanded by the amount of movement of the load means. The urging force of the urging member according to the amount of extension acts on the output shaft. That is, the urging force of the urging member is equivalent to the urging force of the urging member having a larger urging coefficient. Note that the biasing coefficient referred to here means the proportional coefficient of the biasing force that changes proportionally according to the amount of compression or expansion of the biasing member,
For example, the urging coefficient when the urging member is a spring member is a spring coefficient (the same applies hereinafter).

Conversely, when the load means is moved in a direction away from the output shaft, the compression or expansion of the biasing member is reduced by the movement amount of the load means, and the reduced compression amount or expansion is reduced. The urging force of the urging member according to the amount acts on the output shaft. That is, the urging force of the urging member is equivalent to the urging force of the urging member having a smaller urging coefficient.

When the load means is stopped, an urging force corresponding to the actual urging coefficient of the urging member acts on the output shaft.

As described above, according to the present invention, a single urging member can apply to the output shaft an urging force in a form in which the apparent urging coefficient is variously changed, so that operating characteristics can be improved. When detecting the operating characteristics of a plurality of different types of steerings, the troublesome work of disassembling the device and replacing the urging member as in the related art is unnecessary, and the operating characteristics of the plurality of types of steerings are extremely quickly. Can be detected.

According to a second aspect of the present invention, there is provided a load device for use in detecting the operating characteristics of an auxiliary device for an automobile steering system, the load device having an input shaft and an output shaft, and having an increased input torque. A load device that applies a specified load to the output shaft of the auxiliary device that outputs torque, is provided so as to be movable in a direction orthogonal to the output shaft, and is connected to the output shaft to apply a load. A load transmitting member for transmitting, and a load unit having an urging member for applying a load in a load direction to the load transmitting member; and
A driving unit for moving in a direction approaching or separating from the output shaft, a first position detecting unit for detecting a position of the load transmitting member, and a second position detecting unit for detecting a position of the load unit. And control means for controlling the operation of the driving means based on the position data detected by the first position detecting means and the second position detecting means.

According to the present invention, first, the output shaft rotates in the axial direction with the torque increased by the operation of the auxiliary device. As a result, the load transmitting member connected to the output shaft moves in a direction perpendicular to the output shaft to compress or expand the urging member, and the urging member changes proportionally according to the amount of compression or expansion. The force acts as a reaction force on the output shaft via the load transmitting member.

At the same time, the position of the load transmitting member is detected by the first position detecting means, the position of the load means is detected by the second position detecting means, and detected by the first position detecting means. Based on the position data of the load transmitting member and the position data of the load means detected by the second position detection means, the control means controls the operation of the drive means to move the load means closer to the output shaft or Move in the direction away from you or stop.

When the load means is moved in a direction away from the output shaft, the biasing member is compressed or expanded by the amount of movement of the load means, and the increased compression amount or The urging force of the urging member according to the amount of extension acts on the output shaft. That is, the urging force of the urging member is equivalent to the urging force of the urging member having a larger urging coefficient.

Conversely, when the load means is moved in a direction approaching the output shaft, the compression or expansion of the urging member is reduced by the movement amount of the load means, and the reduced compression amount or expansion is reduced. The urging force of the urging member according to the amount acts on the output shaft. That is, the urging force of the urging member is equivalent to the urging force of the urging member having a smaller urging coefficient.

When the load means is in a stopped state, an urging force corresponding to the actual urging coefficient of the urging member acts on the output shaft.

As described above, according to the present invention, a single urging member can apply, to the output shaft, an urging force in a form in which the apparent urging coefficient is variously changed. When detecting the operating characteristics of a plurality of different types of auxiliary devices, a cumbersome operation of disassembling the device and replacing the urging member as in the related art is not required, and the multiple types of auxiliary devices can be extremely quickly used. Operating characteristics can be detected.

Further, as in the third aspect of the present invention, the second position detecting means in the second aspect of the present invention may be configured to detect the rotation angle of the output shaft.

According to a fourth aspect of the present invention, there is provided a load device for use in detecting the operating characteristics of an auxiliary device for an automobile steering system, the load device having an input shaft and an output shaft, and having an increased input torque. A load device for applying a specified load to the output shaft of the auxiliary device for outputting torque, which is directly or indirectly connected to the output shaft to resist a torque corresponding to a torsion angle to the input torque. Urging shaft acting in the direction, driving means for rotating the urging shaft about the axis, first angle detecting means for detecting a rotation angle of the output shaft, and detecting a torsion angle of the urging shaft. A second angle detecting means, and a control means for controlling the operation of the driving means based on the angle data detected by the first angle detecting means and the second angle detecting means. Features

According to the present invention, first, the output shaft rotates in the axial direction with the torque increased by the operation of the auxiliary device. Thus, the biasing shaft connected to the output shaft is twisted in the rotation direction of the output shaft, and the biasing force of the biasing shaft, which changes proportionally according to the twist angle, acts on the output shaft as a reaction force.

At the same time, the rotation angle of the output shaft is
The torsion angle of the biasing shaft is detected by the second angle detecting means, the rotation angle of the output shaft detected by the first angle detecting means, and the second angle detecting means. Based on the torsion angle of the biasing shaft detected by the control means, the control means controls the operation of the driving means, to rotate the biasing shaft in the same direction or the opposite direction to the rotation direction of the output shaft, or
Set to the stopped state.

When the biasing shaft is rotated in the direction opposite to the rotation direction of the output shaft, the biasing shaft is further twisted by the amount of rotation of the biasing shaft. A corresponding urging force acts on the output shaft. That is, the urging force of the urging shaft is equivalent to the urging force of the urging shaft having a larger urging coefficient.

Conversely, when the urging shaft is rotated in the same direction as the rotation direction of the output shaft, the torsion of the urging shaft is reduced, and the urging force corresponding to the reduced amount of torsion is applied to the output shaft. Works. That is, the urging force of the urging shaft is equivalent to the urging force of the urging shaft having a smaller urging coefficient.

When the urging shaft is stopped, an urging force corresponding to the actual urging coefficient of the urging shaft acts on the output shaft.

As described above, according to the present invention, a single urging shaft can apply to the output shaft an urging force in a form in which the apparent urging coefficient is variously changed.
When detecting the operation characteristics of a plurality of types of the auxiliary devices having different operation characteristics, a troublesome operation such as disassembling the device and replacing the urging member as in the related art is unnecessary, and the plurality of types of the auxiliary devices are extremely quickly. The operating characteristics of the auxiliary device can be detected.

[0058]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings.

(First Embodiment) First, a load device according to a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a front view partially showing a schematic configuration of an inspection device including a load device according to the present embodiment in a block diagram.
Note that the inspection device 1 of the present embodiment is a device for detecting the operation characteristics of the auxiliary device 200.

As shown in the figure, the inspection device 1 includes a rotary encoder, which is connected to an input shaft 203 of the auxiliary device 200 and transmits a predetermined torque to the input shaft 203; A first load device 10 and a second load device 30 connected to the distal ends of the output shafts 202 and 202 of the auxiliary device 200, respectively, and a base for supporting the first load device 10 and the second load device 30. Stand 6,
Hydraulic supply means (not shown) for supplying hydraulic oil of a predetermined pressure to the switching valve 205 of the auxiliary device 200, and controls the operation of the servomotor 2, the first load device 10, and the second load device 30. And a processing / control device 4 for detecting the operating characteristics of the auxiliary device 200.
Note that the auxiliary device 200 is appropriately supported by support means (not shown).

The first load device 10 includes a load mechanism 1
1, and the load mechanism 11 is connected to the output shaft 2 of the auxiliary device 210.
The driving mechanism 18 includes a driving unit 18 for moving in a direction approaching and separating from the device 02, that is, an arrow CD direction, and a position detecting unit 25 provided above the load mechanism unit 11.

The load mechanism 11 is connected to the output shaft 202.
A load transmitting shaft 13 provided coaxially with and facing the same; a housing-shaped main body 12 supporting the load transmitting shaft 13 so as to be movable in the axial direction via bearings 16; When the main body 12 is passed through the load transmitting shaft 13
A compression coil spring 15, which is also provided in the main body 12 and urges the movable body 14 in the direction indicated by the arrow D, and an end surface of the load transmission shaft 13 on the side indicated by the arrow D. And a load cell 17 fixedly mounted on the vehicle. The load transmitting shaft 13 is provided with a stepped large-diameter portion 13a, and when the large-diameter portion 13a and the movable body 14 are engaged with each other, the load transmitting shaft 13 is moved through the movable body 14. Thus, the compression coil spring 15 is urged in the direction of arrow D.

The driving means 18 includes a base plate 24 slidable in the direction of arrows CD by guide means (not shown), a ball nut 23 fixed on the lower surface of the base plate 24, Load transmission shaft 13
And a ball screw 22 engaged with the ball nut 23 and a ball screw 22 provided on the base 6.
Bearings 21 and 21 rotatably supporting both ends of the base plate, and a servo motor 19 having a rotary encoder 20 and driving a ball screw 22.
The body 12 of the load mechanism 11 is fixedly mounted on the upper surface of the load mechanism 11. When the servomotor 19 is driven to rotate the ball screw 22 about the axis, the ball nut 23 engaged with the ball screw 22 and the base plate 24 fixed to the ball nut 23 and the base plate 24 are fixed. The load mechanism 11 moves toward and away from the output shaft 202 of the auxiliary device 200, that is, moves in the direction of arrow CD.

The position detecting means 25 includes a linear gauge 26 having a pickup rod and the load mechanism 11
A bracket 27 fixed to the main body 12 and supporting the linear gauge 26, one end is fixed to the load transmission shaft 13 of the load mechanism 11, and the other end is fixed to the tip of the pickup rod. It consists of a connecting bar 28, and arrow C
The connection bar 28 and the pickup rod are moved in the same direction together with the load transmission shaft 13 moving in the −D direction, and the position of the load transmission shaft 13 in the same direction is detected by the linear gauge 26. .

The second load device 30 has a configuration similar to that of the first load device 10 and includes a main body 3.
2, load transmission shaft 33, movable body 34, compression coil spring 3
5, a load mechanism 31 comprising a bearing 36 and a load cell 37, the load transmitting shaft 33 being urged in the direction of arrow C by a compression coil spring 35, a servomotor 39, a rotary encoder 40, a bearing 41, a ball screw 42, The load mechanism 31 includes a ball nut 43 and a base plate 44.
And a position detecting means 45, which comprises a linear gauge 46, a bracket 47 and a connecting bar 48, and detects the position of the load transmitting shaft 33 in the direction of the arrow CD. Have.

As shown in FIG. 1, the processing / control device 4
Is a load transmission shaft movement amount calculation unit 4a and an output shaft movement amount calculation unit 4
b, a drive control unit 4c and an operation characteristic detection unit 4d.
The load transmission shaft movement amount calculation unit 4a includes the linear gauges 26 and 46.
From the position data of the load transmitting shafts 13 and 33 input from the controller, the movement amount Δ of the load transmitting shafts 13 and 33 in the direction of the arrow CD.
Xa is calculated. Further, the output shaft movement amount calculation unit 4b is a load mechanism unit 1 input from the rotary encoders 20 and 40.
The movement amount ΔXb of the load mechanism units 11 and 31 in the same direction indicated by the arrow C-D is calculated from the position data of the load mechanism units 1 and 31, and the calculated movement amount ΔXb and the load transmission shaft movement amount calculation unit 4a. The movement amount ΔX of the output shaft 202 in the direction indicated by the arrow CD is calculated based on the movement amount ΔXa of the load transmission shafts 13 and 33. That is, ΔX = ΔXa + ΔXb.

The drive control unit 4c controls the operation of the servo motor 2 to control the input shaft 20 of the auxiliary device 200.
3, a predetermined torque is transmitted to the load transmitting shafts 13, 3 calculated by the load transmitting shaft moving amount calculating section 4a.
3 and the movement amount ΔX of the output shaft 202 calculated by the output shaft movement amount calculation unit 4b to control the operation of the servo motors 19 and 39 to control the load mechanism units 11 and 31.
Is moved in the direction of arrow CD. That is, the drive control unit 4c
Is the movement amount ΔXa of the load transmission shafts 13 and 33 is the output shaft 202
Is controlled so that ΔX (= ΔXa + ΔXb) = m × ΔXa. Note that m is a coefficient that is arbitrarily set as appropriate.

The operating characteristic detecting section 4 d calculates the movement amount ΔX of the output shaft 202 calculated by the output shaft movement amount calculating section 4 b and the load detected by the load cells 17, 37. Detect operating characteristics.

Next, a mode of detecting the operating characteristics of the auxiliary device 200 using the inspection apparatus 1 according to the present embodiment having the above configuration will be described.

First, according to the inspection apparatus 1, the positions of the load transmitting shafts 13 and 33 are always detected by the linear gauges 26 and 46, respectively, and the detected position data is input to the load transmitting shaft moving amount calculating unit 4a. The load transmission shaft movement amount calculation unit 4a calculates the movement amount ΔXa of the load transmission shafts 13 and 33 in the direction indicated by the arrow CD.
The positions of the load mechanisms 11, 31 are detected by the rotary encoders 20, 40, respectively, and the detected position data is input to the output shaft movement amount calculation unit 4b. Mechanism part 11, 3
The movement amount ΔXb in the direction of arrow C—D in FIG. 1 is calculated, and the calculated movement amount Δ of the load mechanism units 11 and 31 is calculated.
The movement amount ΔX of the output shafts 202, 202 in the direction of arrow CD is calculated from Xb and the movement amount ΔXa of the load transmission shafts 13, 33 calculated by the load transmission shaft movement amount calculation unit 4a.

Then, in this state, the drive control unit 4c
The servomotor 2 is driven by the
When a predetermined torque is input to the 0 input shaft 203, the input torque is converted into a thrust by a steering gear unit (not shown) built in the auxiliary device 200, and the converted thrust is output from the output shafts 202, 202. Is output. That is,
When the servo motor 2 is rotated in the direction of arrow A, the output shafts 202 move in the direction of arrow C. When the servo motor 2 is rotated in the direction of arrow B, the output shafts 202, 202 are moved.
Moves in the direction of arrow D. Then, the drive control unit 4c
Is the output shaft 2 calculated by the output shaft movement amount calculation unit 4b.
02 and the movement amount ΔXa of the load transmission shafts 13 and 33 calculated by the load transmission shaft movement amount calculation unit 4a, so that the following equation: ΔX = m × ΔXa , 39 are driven to move the load mechanisms 11, 31 in the directions indicated by arrows CD.

If the servomotor 2 rotates in the direction of arrow B and the output shafts 202 move in the direction of arrow D, the load cell 37 is pressed by the tip of the output shaft 202, and this load cell The load transmitting shaft 33 and the movable body 34 move in the arrow D direction together with 37, and the compression coil spring 35 provided between the movable body 34 and the main body 32 is compressed. In parallel with this, the servo motor 39 is driven by the drive control unit 4c, and the output shaft movement amount calculation unit 4
The movement amount ΔX of the output shaft 202 in the direction indicated by the arrow D calculated by b is the movement amount ΔX of the load transmission shaft 33 in the direction indicated by the arrow D calculated by the load transmission shaft movement amount calculation unit 4a.
The load mechanism 31 is moved or stopped in the direction of arrow D or C so as to be m times as large as a. That is, when m = 1, the load mechanism 31 is stopped, when m> 1, the load mechanism 31 is moved in the direction of arrow D, and when m <1, the load mechanism 31 is moved. Is moved in the direction of arrow C.

Thus, the amount of movement ΔX of the load transmitting shaft 33
a, that is, a biasing force in the direction of arrow C proportional to the amount of compression of the compression coil spring 35 is generated in the compression coil spring 35, and the output shaft 202 receives the biasing force as a reaction force via the load cell 37, The load cell 37 detects this biasing force. In other words, the output shaft 202 is moved by the movement amount ΔXa of the load transmission shaft 33, that is,
5, the load cell 37 is pressed with a thrust equal to or greater than the urging force of the compression coil spring 35 in proportion to the amount of compression.
Detects the urging force of the compression coil spring 35.

Then, when the output torque of the servo motor 2 is gradually reduced, the urging force of the compression coil spring 35 exceeds the thrust in the direction of arrow D generated by the servo motor 2, whereby the output power is reduced. Axis 2
02 moves in the direction of arrow C, and the output shaft 202 finally returns to the original position. Similarly, in this return process, the servomotor 39 is driven by the drive control unit 4c, and the movement amount ΔX of the output shaft 202 in the direction indicated by the arrow D is similarly calculated.
M of the amount of movement ΔXa of the load transmission shaft 33 in the direction of arrow D
The load mechanism 31 is moved or stopped in the direction indicated by the arrow D or C so as to be doubled. Further, the thrust acting on the output shaft 202 is detected by the load cell 37.

Conversely, when the servo motor 2 rotates in the direction of arrow A and the output shaft 202 moves in the direction of arrow C, the load cell 17 is moved by the tip of the output shaft 202.
Is pressed, and the load transmitting shaft 1 is
3 and the movable body 14 move in the direction of arrow C, and the compression coil spring 15 provided between the movable body 14 and the main body 12 is compressed. In parallel with this, the servo motor 19 is driven by the drive control unit 4c, and the movement amount ΔX of the output shaft 202 in the direction of arrow C calculated by the output shaft movement amount calculation unit 4b is determined by the load transmission shaft movement. M of the movement amount ΔXa of the load transmission shaft 13 in the direction of arrow C calculated by the amount calculation unit 4a
The load mechanism 11 is moved or stopped in the direction indicated by the arrow D or C so that the load is doubled.

Thus, the amount of movement ΔX of the load transmitting shaft 13
a, that is, an urging force in the direction of arrow D proportional to the compression amount of the compression coil spring 15 is generated in the compression coil spring 15, and the output shaft 202 receives the urging force as a reaction force via the load cell 17, The load cell 17 detects this biasing force. In other words, the output shaft 202 moves the load transmission shaft 13 by the amount of movement ΔXa, that is, the compression coil spring 1
5, the load cell 17 is pressed with a thrust greater than the urging force of the compression coil spring 15 in proportion to the compression amount of the load cell 17, and the load cell 17
Detects the urging force of the compression coil spring 15.

Then, when the output torque of the servo motor 2 is gradually reduced, the urging force of the compression coil spring 15 exceeds the thrust in the direction indicated by arrow C generated by the servo motor 2, and the output power is thereby reduced. Axis 2
02 moves in the direction of arrow D, and the output shaft 202 finally returns to the original position. Similarly, in this return process, the servo motor 19 is driven by the drive control unit 4c, and the movement amount ΔX of the output shaft 202 in the direction of arrow C is calculated.
M of the amount of movement ΔXa of the load transmission shaft 13 in the direction of arrow C
The load mechanism 11 is moved or stopped in the direction indicated by the arrow D or C so that the load is doubled. Further, a thrust acting on the output shaft 202 is detected by the load cell 17.

The compression coil springs 15, 35
Assuming that the spring coefficient is Ka, the reaction force F acting on the output shaft 202 and detected by the load cells 17 and 37 is as follows: F = Ka × ΔXa On the other hand, since the moving amount ΔX of the output shaft 202 is ΔX = m × ΔXa, if K is an apparent spring coefficient, F = Ka × ΔXa = K × ΔX (= m × ΔXa), and K = Ka / m Becomes That is, the servomotors 19 and 39 are driven to move the load mechanism units 11 and 31 such that the movement amount ΔX of the output shaft 202 becomes m times the movement amount ΔXa of the load transmission shafts 13 and 33, thereby achieving Ka. The same effect as when the output shaft 202 is directly biased by the compression coil springs 15, 35 having a spring coefficient of / m can be obtained.

As described above, according to the inspection apparatus 1, the output shafts 202, 202 of the auxiliary device 200 increase in proportion to the amount of movement, and the output shafts 202, 202
Is applied to the output shafts 202, 202 by the compression coil springs 15, 35, and the load applied by the compression coil springs 15, 35 is applied to the output shafts 202, 202. The output shaft movement amount calculation unit 4b detects the movement amount of the output shafts 202, 202, and the auxiliary device 200 exhibits the thrust-movement amount characteristic as shown in FIG. Whether or not it is provided is detected by the operation characteristic detecting unit 4d.

According to the inspection apparatus 1, the output shafts 202 and 20 can be set by arbitrarily setting the coefficient m.
2 in proportion to the amount of movement of the output shafts 202, 202
Can be changed to a load having an arbitrary inclination. Therefore, when detecting the operation characteristics of a plurality of types of auxiliary devices 200 having different operation characteristics as shown in FIG. 6, it is sufficient to appropriately set the coefficient m. Compression coil spring 1
The troublesome work of exchanging 5, 35 is unnecessary, and the operation characteristics of the plurality of types of auxiliary devices 200 can be detected very quickly.

(Second Embodiment) Next, a load device according to a second embodiment of the present invention will be described with reference to FIG. FIG. 2 is an explanatory diagram partially showing a schematic configuration of an inspection device including the load device according to the present embodiment in a block diagram.
Note that the inspection device 50 of the present example is a device for detecting the operating characteristics of the auxiliary device 210.

As shown in the figure, this inspection device 50
A servomotor 51 having a rotary encoder connected to an input shaft 212 of the auxiliary device 210 and inputting a predetermined torque to the input shaft 212;
A torque sensor 53 connected to the ten output shafts 213, a rotating shaft 55 having one end connected to the torque sensor 53,
A bearing 56 for rotatably supporting the other end of the rotating shaft 55
A pulley 57 provided at an intermediate position of the rotating shaft 55,
A wire rope 58 wound around the pulley 57; a first load device 60 and a second load device 280 connected to both ends of the wire rope 58; a first load device 60 and a second load A process for controlling the operation of the servomotor 51, the first load device 60, and the second load device 80, and detecting the operating characteristics of the auxiliary device 210, as well as the base 67 supporting the device 80 and the bearing 56.・
The control device 79 is provided, and the auxiliary device 210 is appropriately supported by supporting means (not shown).

The servo motor 51, the torque sensor 53, the rotating shaft 55, the bearing 56, the pulley 57 and the wire rope 58 are the same as those of the conventional inspection device 25 shown in FIG.
0, the servo motor 251, the torque sensor 253,
It has the same configuration as the rotating shaft 255, the bearing 256, the pulley 257, and the wire rope 258. Therefore, detailed description of each is omitted.

The first load device 60 includes a load mechanism 6
1, and the load mechanism 61 is connected to the output shaft 2 of the auxiliary device 210.
The driving mechanism 68 includes a driving unit 68 for moving in a direction approaching and separating from the target 02, that is, an arrow GH direction, and a position detecting unit 75 provided above the load mechanism unit 61.

The load mechanism 61 includes a load transmitting shaft 63 provided in a direction orthogonal to the rotating shaft 55, and bearings 66, 6.
6, a housing-like main body 62 that supports the load transmission shaft 63 so as to be movable in the axial direction, and a movable body 6 provided in the main body 62 while being axially passed by the load transmission shaft 63.
4 and a compression coil spring 65 that is also provided in the main body 62 and urges the movable body 64 in the direction of arrow G.
The load transmitting shaft 63 is provided with a stepped large-diameter portion 63a, and the large-diameter portion 63a is engaged with the movable body 64, so that the load transmitting shaft 63 is moved by the movable body 6a.
4, the compression coil spring 65 is urged in the direction of arrow G. One end of the wire rope 58 is fixed to an end of the load transmission shaft 63 on the side of the arrow H.

The driving means 68 includes a base plate 74 slidable in the directions indicated by arrows GH by guide means (not shown), a ball nut 73 fixed to the lower surface of the base plate 74, Load transmission shaft 63
And a ball screw 72 engaged with the ball nut 73 and a ball screw 72 provided on the base 6.
Bearings 71, 71 rotatably supporting both ends of the base plate, and a servomotor 69 having a rotary encoder 70 and driving a ball screw 72.
The main body 62 of the load mechanism 61 is fixedly mounted on the upper surface. When the servomotor 69 is driven to rotate the ball screw 72 about the axis, the ball nut 73 engaged with the ball screw 72 is fixed together with the base plate 74 fixed to the ball nut 73 and the base plate 74. The load mechanism 61 is connected to the output shaft 2 of the auxiliary device 210.
02 moves in a direction approaching and separating from 02, that is, in the direction indicated by the arrow GH.

The position detecting means 75 includes a linear gauge 76 having a pickup rod and the load mechanism 61.
A bracket 77 fixedly mounted on the main body 62 and supporting a linear gauge 76; one end fixedly mounted on the end of the load transmitting shaft 63 of the load mechanism 61 in the direction indicated by the arrow G; The load transmitting shaft 6 comprises a connecting bar 78 fixed to the end of the load transmitting shaft 6 and moves in the direction of arrows GH.
Along with 3, the connecting bar 78 and the pickup rod are moved in the same direction, and the position of the load transmitting shaft 63 in the same direction is detected by the linear gauge 76.

The second load device 80 has the same configuration as that of the first load device 60,
2, load transmission shaft 83, movable body 84, compression coil spring 85
And a bearing 86, and the load transmission shaft 83 is urged in the direction of arrow H by the compression coil spring 85.
, A driving means 88 for moving the load mechanism 81 in the direction indicated by the arrow GH, a linear gauge 96, a bracket, and a servo motor 89, a rotary encoder 90, a bearing 91, a ball screw 92, a ball nut 93, and a base plate 94. 97 and a connecting bar 98, and a position detecting means 95 for detecting the position of the load transmitting shaft 83 in the direction of the arrow GH.

As shown in FIG. 1, the processing / control device 7
Reference numeral 9 denotes a load transmission shaft movement amount calculation unit 79a and a winding amount calculation unit 79
b, a drive control section 79c and an operation characteristic detection section 79d. The load transmission shaft movement amount calculation unit 79a is a linear gauge 7
The movement amount ΔXa of the load transmission shafts 63 and 83 in the direction indicated by the arrow GH is calculated from the position data of the load transmission shafts 63 and 83 input from the input units 6 and 96. Further, the winding amount calculating section 79b calculates the load mechanism sections 61, 8 from the position data of the load mechanism sections 61, 81 input from the rotary encoders 70, 80.
1, the movement amount ΔXb in the direction indicated by the arrow GH is calculated, and based on the calculated movement amount ΔXb and the movement amount ΔXa of the load transmission shafts 63 and 83 calculated by the load transmission shaft movement amount calculation unit 4a. Next, the winding amount ΔX of the wire rope 58 by the pulley 57 is calculated. That is, ΔX = ΔXa + ΔXb. Needless to say, the winding amount ΔX of the wire rope 58 is a value proportional to the rotation angle of the pulley 57, that is, the output shaft 213.

The drive control section 79c controls the operation of the servo motor 51 to control the input shaft 2 of the auxiliary device 210.
A predetermined torque is transmitted to the load transmitting shaft 6 and the load transmitting shaft 6 calculated by the load transmitting shaft moving amount calculating section 79a.
The operation of the servo motors 69 and 89 is controlled based on the movement amount ΔXa of the wire ropes 3 and 83 and the winding amount ΔX of the wire rope 58 calculated by the winding amount calculation unit 79b to control the load mechanism unit 6.
1, 81 are moved in the directions indicated by arrows GH. That is, the drive control section 79c sets the load mechanism section 61, 83 such that the movement amount ΔXa of the load transmitting shafts 63, 83 with respect to the winding amount ΔX of the wire rope 58 becomes ΔX (= ΔXa + ΔXb) = m × ΔXa. 81 is controlled. Note that m is a coefficient that is arbitrarily set as appropriate.

The operating characteristic detecting section 79d determines the operating characteristic of the auxiliary device 210 from the rotation angle of the output shaft 213 detected by the encoder of the servo motor 51 and the torque detected by the torque sensor 53. To detect.

Next, a mode of detecting the operating characteristics of the auxiliary device 210 using the inspection device 50 according to the present embodiment having the above configuration will be described.

First, according to the inspection device 50,
The positions of the load transmitting shafts 63 and 83 are detected by the linear gauges 76 and 96, respectively, and the detected position data is input to the load transmitting shaft moving amount calculating unit 79a. Transmission shaft 63, 8
The movement amount ΔXa in the GH direction indicated by the arrow 3 is calculated. The positions of the load mechanism units 61 and 81 are detected by the rotary encoders 70 and 90, respectively, and the detected position data is input to the winding amount calculating unit 79b. 61, 81
The movement amount ΔXb in the direction of the arrow GH is calculated, and the movement amount ΔX of the load mechanism units 61 and 81 is calculated.
The winding amount ΔX of the wire rope 58 is calculated from b and the moving amount ΔXa of the load transmitting shafts 63 and 83 calculated by the load transmitting shaft moving amount calculating unit 79a.

Then, in this state, the drive control unit 79
When the servomotor 51 is driven by the control motor c and a predetermined torque is input to the input shaft 212 of the auxiliary device 210, an auxiliary torque corresponding to the rotation angle of the input shaft 212 is generated by the drive motor 2
A torque obtained by adding the auxiliary torque to the input torque is output from the output shaft 213. Output shaft 2
The torque output from 13 is transmitted to the rotating shaft 55 via the torque sensor 53, whereby the rotating shaft 55 is rotated in the direction of arrow E or the direction of arrow F. Then, the drive control unit 79c includes the winding amount ΔX of the wire rope 58 calculated by the winding amount calculating unit 79b and the load transmitting shaft 6 calculated by the load transmitting shaft moving amount calculating unit 79a.
The servomotors 69 and 89 are driven to move the load mechanism units 61 and 81 in the directions indicated by arrows G and H so that the relationship between the movement amounts ΔXa of the motors 3 and 83 is as follows: ΔX = m × ΔXa Let it.

If the servo motor 51 rotates in the direction of arrow E and the rotary shaft 55 rotates in the direction of arrow E, the wire rope 5 fixed to the load mechanism 81 is
8 is wound on the pulley 57 and moves in the direction of arrow G, and the load transmitting shaft 83 connected thereto and the movable body 84 engaged with the load transmitting shaft 83 also move in the direction of arrow G. . In parallel with this, the servo motor 89 is driven by the drive control unit 79c, and the winding amount ΔX of the wire rope 58 calculated by the winding amount calculation unit 79b is calculated by the load transmission shaft movement amount calculation unit 79a. The load mechanism 81 is moved in the arrow H direction or the G direction, or stopped, so that the amount of movement ΔXa of the load transmission shaft 83 in the arrow G direction becomes m times. That is, m =
In the case of 1, the load mechanism 31 is stopped, and m> 1
In the case of (1), the load mechanism 31 is moved in the direction of arrow G, and when m <1, the load mechanism 31 is moved in the direction of arrow H.

As a result, the distance between the main body 82 and the movable body 84 is gradually reduced, and the compression coil spring 85 is compressed, and the displacement ΔXa of the load transmission shaft 83, that is, the compression amount of the compression coil spring 85 is proportional to the compression amount. A tension is generated in the wire rope 58 by the urging force in the direction indicated by the arrow H, and the rotating shaft 55 receives a torque in the direction indicated by the arrow F due to the tension, and the torque is detected by the torque sensor 53.

On the other hand, the wire rope 58 on the side of the load mechanism 61 is extended to the side of the load mechanism 61 and relaxed as the rotary shaft 55 rotates in the direction of arrow E. Therefore,
The load transmission shaft 63 and the movable body 64 do not move,
The urging force of the compression coil spring 65 does not act on the rotating shaft 55.

Then, when the output torque of the servo motor 51 is gradually reduced, the torque generated by the urging force of the compression coil spring 85 exceeds the torque generated by the servo motor 51. After rotating in the direction of arrow F, the rotating shaft 55 finally returns to the original position before the rotation. In the returning process, similarly, the servomotor 89 is driven by the drive control unit 79c, and the winding amount ΔX of the wire rope 58 calculated by the winding amount calculation unit 79b is calculated by the load transmission shaft movement amount calculation unit 79a. The load mechanism 81 is moved in the arrow H direction or the G direction so as to be m times the moving amount ΔXa of the load transmission shaft 83 in the arrow G direction calculated by
Or, they are stopped. The torque acting on the rotating shaft 55 is detected by the torque sensor 53.

Conversely, the output shaft 213 is rotated in the direction of arrow F by the servo motor 51, and the rotation shaft 55 is rotated by the arrow F.
When rotating in the direction, the wire rope 58 fixed to the load mechanism 61 is wound around the pulley 57 and moves in the direction of arrow H, and the load transmission shaft 63 connected to the The movable body 64 engaged with the load transmission shaft 63 similarly moves in the direction of arrow H. In parallel with this, the servo motor 69 is driven by the drive control unit 79c, and the winding amount ΔX of the wire rope 58 calculated by the winding amount calculation unit 79b is calculated by the load transmission shaft movement amount calculation unit 79a. Of the load transmitting shaft 63 in the direction indicated by the arrow H.
The load mechanism section 61 is moved or stopped in the direction indicated by the arrow H or G so as to be m times Xa.

As a result, the distance between the main body 62 and the movable body 64 is gradually reduced, and the compression coil spring 65 is compressed, so that the displacement ΔXa of the load transmitting shaft 63, that is, the compression amount of the compression coil spring 65 is proportional to the compression amount. The tension in the wire rope 58 is generated by the urging force in the direction indicated by the arrow G, and the rotating shaft 55 receives a torque in the direction indicated by the arrow E due to the tension, and the torque is detected by the torque sensor 53.

On the other hand, the wire rope 58 on the side of the load mechanism 81 is extended toward the load mechanism 81 and relaxed with the rotation of the rotary shaft 55 in the direction of arrow F. Therefore,
The load transmission shaft 83 and the movable body 84 do not move,
The biasing force of the compression coil spring 85 does not act on the rotating shaft 55.

Then, when the output torque of the servomotor 51 is gradually reduced, the torque generated by the urging force of the compression coil spring 65 exceeds the torque generated by the servomotor 51. After rotating in the direction of arrow E, the rotation shaft 55 finally returns to the original position before the rotation. In the returning process, similarly, the servo motor 69 is driven by the drive control unit 79c, and the winding amount ΔX of the wire rope 58 calculated by the winding amount calculation unit 79b is calculated by the load transmission shaft movement amount calculation unit 79a. The load mechanism 81 is moved in the arrow H direction or the G direction so as to be m times the moving amount ΔXa of the load transmission shaft 63 in the arrow H direction calculated by
Or, they are stopped. The torque acting on the rotating shaft 55 is detected by the torque sensor 53.

As in the first embodiment, the spring coefficients of the compression coil springs 65 and 85 are
Assuming a, the reaction force F acting on the pulley 57 is as follows: F = Ka × ΔXa On the other hand, since the moving amount ΔX of the wire rope 58 is ΔX = m × ΔXa, if K is an apparent spring coefficient, F = Ka × ΔXa = K × ΔX (= m × ΔXa), and K = Ka / m Becomes That is, the servomotors 69 and 89 are driven so that the moving amount ΔX of the wire rope 58 becomes m times the moving amount ΔXa of the load transmitting shafts 63 and 83 so as to be m times.
Has the same effect as directly pulling on the pulley 57 by the compression coil springs 65 and 85 having a spring coefficient of Ka / m.

As described above, according to the inspection device 50,
A torque (load) that increases in proportion to the rotation angle of the output shaft 213 of the auxiliary device 210 according to the rotation angle thereof and opposes the input torque acts on the output shaft 213 by the compression coil spring 64 or 85. The torque corresponding to the urging force of 65 or 85 is detected by the torque sensor 53 as the output torque of the output shaft 213, and the auxiliary device 21
Whether or not 0 has the torque-rotation angle characteristic as shown in FIG. 7 is detected by the operation characteristic detecting section 79d.

According to the inspection device 50, by setting the coefficient m arbitrarily, the load acting on the output shaft 213 has an arbitrary slope in proportion to the rotation amount of the output shaft 213. Can be changed to Therefore, when detecting the operation characteristics of a plurality of types of auxiliary devices 210 having different operation characteristics as shown in FIG. 7, it is sufficient to appropriately set the coefficient m. This eliminates the need for troublesome work such as replacing the compression coil springs 65 and 85, and makes it possible to detect the operating characteristics of a plurality of types of auxiliary devices 210 very quickly.

(Third Embodiment) Next, a load device according to a third embodiment of the present invention will be described with reference to FIG. FIG. 3 is an explanatory diagram partially showing a schematic configuration of an inspection device including the load device according to the present embodiment in a block diagram.
Note that the inspection device 100 of this example is a device for detecting the operating characteristics of the auxiliary device 210.

As shown in FIG.
Is a servo motor 101 having a rotary encoder connected to an input shaft 212 of the auxiliary device 210 and inputting a predetermined torque to the input shaft 212, and a torque sensor having one side connected to an output shaft 213 of the auxiliary device 210. 10
2, one end is connected to the other side of the torque sensor 102,
An angular displacement sensor 120 for detecting the rotational displacement (rotation angle) of the output shaft 213, and connected to the other end of the angular displacement sensor 120, the angular displacement sensor 120 and the torque sensor 10
2 for applying a load to the output shaft 213 via
10, a base 116 that supports the load device 110, and a processing / control device 130 that controls the operation of the servo motor 101 and the load device 110 and detects the operation characteristics of the auxiliary device 210. Auxiliary device 210
Are appropriately supported by supporting means (not shown).

The servo motor 101 and the torque sensor 102 are the same as those of the conventional inspection device 2 shown in FIG.
Servo motor 251 and torque sensor 25 in 50
3 has the same configuration. Therefore, detailed description of each is omitted.

The load device 110 includes a torsion bar 113 having one end connected to the angular displacement sensor 120 via a connecting member 114, and a rotary encoder 112. The torsion bar 113 is connected via a connecting member 115.
And the torsion bar 113 is connected with the arrow E
A servo motor 111 that rotates in the −F direction,
An urging force (torque) proportional to the torsion angle of the torsion bar 113 is applied to the output shaft 213.

The processing / control device 130 comprises an output shaft rotation angle calculation unit 130a, a drive motor rotation angle calculation unit 130b, a drive control unit 130c, and an operation characteristic detection unit 130d. This output shaft rotation angle calculation unit 130a is the angular displacement sensor 1
20, the rotation angle θa of the output shaft 213 in the direction indicated by the arrow EF is calculated based on the detection signal input from the rotary encoder 112. The rotation angle θb in the direction EF of arrow 111 is calculated.

The drive control unit 130c controls the operation of the servo motor 101 to transmit a predetermined torque to the input shaft 212 of the auxiliary device 210, and calculates the output shaft rotation angle calculated by the output shaft rotation angle calculation unit 130a. Output shaft 2
13 and the drive motor rotation angle calculation unit 130
b, the torsion angle 113 of the torsion bar 113 (= θa−θb) is calculated from the rotation angle θb of the servomotor 111, and the servomotor is calculated based on the calculated torsion angle θ and the rotation angle θa of the output shaft 213. By controlling the operation of the torsion bar 111, the torsion bar 113 is rotated in the direction of the arrow EF. That is, the drive control unit 130c determines that the torsion angle θ of the torsion bar 113 is θ (= θa−θb) = m × θa and θb = (1−m) × θa with respect to the rotation angle θa of the output shaft 213. Thus, the operation of the servomotor 111 is controlled.
Note that m is a coefficient that is arbitrarily set as appropriate.

The operating characteristic detecting section 130d detects the operating characteristic of the auxiliary device 210 from the rotation angle of the output shaft 213 detected by the angular displacement sensor 120 and the torque detected by the torque sensor 102. I do.

Next, a mode of detecting the operating characteristics of the auxiliary device 210 by using the inspection device 100 according to the present embodiment having the above configuration will be described.

First, according to the inspection apparatus 100, the angular displacement sensor 120 is always provided to the output shaft rotation angle calculation section 130a.
From the output shaft rotation angle calculation unit 13
0a, the rotation angle θa of the output shaft 213 is calculated, and a detection signal is input from the rotary encoder 112 to the drive motor rotation angle calculation unit 130b.
Eleven rotation angles θb have been calculated. In the drive control unit 130c, the rotation angle θa of the output shaft 213 calculated by the output shaft rotation angle calculation unit 130a and the rotation angle θb of the servo motor 111 calculated by the drive motor rotation angle calculation unit 130b are calculated. The twist angle θ (= θa−θb) of the torsion bar 113 is calculated.

In this state, the drive control unit 13
0c, the servomotor 101 is driven, and when a predetermined torque is input to the input shaft 212 of the auxiliary device 210, an auxiliary torque corresponding to the rotation angle of the input shaft 212 is added by the drive motor 214, and the auxiliary torque is added to the input torque. Is output from the output shaft 213. The torque output from the output shaft 213 is
2, transmitted to the torsion bar 113 via the angular displacement sensor 120 and the connecting member 114, whereby the torsion bar 113 is rotated in the arrow E direction or the arrow F direction.

Then, the drive control unit 130c determines that the torsion angle θ of the torsion bar 113 calculated as described above becomes m times the rotation angle θa of the output shaft 213.
The operation of the servo motor 111 is controlled.

Thus, a torque proportional to the torsion angle θ of the torsion bar 113 acts on the output shaft 213, and the torque acting on the output shaft 213 is detected by the torque sensor 102. When the coefficient m is 1, the servo motor 111 is controlled to be in a stopped state. When the coefficient m is larger than 1, the servo motor 111 is controlled to rotate in a direction opposite to the rotation direction of the output shaft 213. When it is smaller than m, the servomotor 111 is controlled to rotate in the same direction as the rotation direction of the output shaft 213.

Then, when the output torque of the servomotor 101 is gradually reduced, the torque of the torsion bar 113 exceeds the torque generated by the servomotor 101, whereby the output shaft 213 moves in the opposite direction to the above. It rotates and finally returns to its original position before rotation. Similarly, in the returning process, the torsion angle θ of the torsion bar 113 is the rotation angle θa of the output shaft 213.
The operation of the servo motor 111 is controlled by the drive control unit 130c so as to be m times as large as.

Assuming that the spring coefficient of the torsion bar 113 is Ka, the torque T acting on the output shaft 213 when the servo motor 111 is stopped is as follows: T = Ka × θa. On the other hand, when the servo motor 111 is driven and controlled so as to satisfy θ = m × θa, assuming that K is an apparent spring coefficient, T = K × θ (= m × θa) = Ka × θa. = Ka / m. That is, by driving the servo motor 111, the torsion angle θ of the torsion bar 113 is changed to the rotation angle θa of the output shaft 213.
By rotating the torsion bar 113 so as to be m times larger than the above, the same effect as connecting the torsion bar 113 having a spring coefficient of Ka / m to the output shaft 213 without rotating can be obtained. Can be

As described above, according to the inspection device 100, the torque (load) of the output shaft 213 of the auxiliary device 210 is increased proportionally in accordance with the rotation angle and in the direction against the input torque. Acted by the torsion bar 113, the torque of the torsion bar 213 is detected by the torque sensor 102 as the output torque of the output shaft 213, and the auxiliary device 210 has a torque-rotation angle characteristic as shown in FIG. Is detected by the operation characteristic detecting unit 130d.

According to the inspection apparatus 100, by setting the coefficient m arbitrarily, the load acting on the output shaft 213 has an arbitrary slope in proportion to the rotation amount of the output shaft 213. Can be changed to
Therefore, when detecting the operation characteristics of a plurality of types of auxiliary devices 210 having different operation characteristics as shown in FIG. 7, it is sufficient to appropriately set the coefficient m, so that troublesome work as in the related art is unnecessary. The operating characteristics of the plurality of types of auxiliary devices 210 can be detected very quickly.

Although the embodiment of the present invention has been described above, it is needless to say that the specific aspect of the present invention is not limited to this. In particular, in the first embodiment, the load mechanism is used. The movement amount ΔX of the units 11 and 31
b, and the movement amount ΔXa of the load transmitting shafts 13 and 33 is provided to calculate the movement amount ΔX of the output shaft 202. However, the present invention is not limited to this. The position of the output shaft 202 is directly detected and the movement amount thereof is calculated. It may be provided to calculate ΔX.

Further, in the second embodiment, the moving amount ΔXb of the load mechanisms 61, 81 and the load transmitting shafts 63, 8
3, the winding amount ΔX of the wire rope 58 is calculated from the moving amount ΔXa. However, the present invention is not limited to this. The output shaft 213 detected by the rotary encoder of the servomotor 51, that is, the rotation of the pulley 57, The winding amount ΔX of the wire rope 58 may be calculated from the corner.

[Brief description of the drawings]

FIG. 1 is a front view partially showing a schematic configuration of an inspection apparatus including a load device according to a first embodiment of the present invention in a block diagram.

FIG. 2 is a front view partially showing a schematic configuration of an inspection apparatus including a load device according to a second embodiment of the present invention in a block diagram.

FIG. 3 is a front view partially showing a schematic configuration of an inspection apparatus provided with a load device according to a third embodiment of the present invention in a block diagram.

FIG. 4 is a front view showing an example of an auxiliary device for a vehicle steering.

FIG. 5 is a front view showing an example of an auxiliary device for an automobile steering.

FIG. 6 is a characteristic diagram showing an example of an operation characteristic required for the auxiliary device.

FIG. 7 is a characteristic diagram showing an example of an operation characteristic required for the auxiliary device.

FIG. 8 is a front view partially showing a schematic configuration of a conventional inspection device for examining the operation characteristics of the auxiliary device in a block diagram.

FIG. 9 is a front view partially showing a schematic configuration of a conventional inspection device for examining the operating characteristics of the auxiliary device in a block diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inspection apparatus 2 Servo motor 4 Processing / control apparatus 10 First load device 11 Load mechanism part 12 Main body 13 Load transmission shaft 15 Compression coil spring 18 Drive means 19 Servo motor 20 Rotary encoder 30 First load device 31 Load mechanism part 32 Body 33 Load transmission shaft 35 Compression coil spring 38 Driving means 39 Servo motor 40 Rotary encoder

Claims (4)

[Claims] 1. A load device used for detecting an operation characteristic of an auxiliary device for a vehicle steering, comprising an input shaft and an output shaft, and converting a torque input from the input shaft into an axial thrust of the output shaft. A load device for applying a prescribed load to the output shaft of the steering, which is provided so as to be converted and transmitted to the output shaft, and is capable of moving in a direction approaching and separating from the output shaft. A load transmitting member that is provided and transmits a load by contacting an end surface of the output shaft; and a load unit including a biasing member that applies a load in a load direction to the load transmitting member; A driving unit for moving in a direction approaching or separating from the shaft; a first position detecting unit for detecting a position of the load transmitting member; a second position detecting unit for detecting a position of the output shaft; First Position data detected by the position detecting means and second position detection means based on the load device, characterized in that which is configured by providing a control means for controlling operation of said drive means. 2. A load device for use in detecting an operating characteristic of an auxiliary device for an automobile steering, wherein the output device includes an input shaft and an output shaft, and outputs an increased torque with respect to an input torque. A load transmitting device for applying a specified load to a shaft, the load transmitting member being provided movably in a direction orthogonal to the output shaft, and connected to the output shaft to transmit a load, and the load transmitting member. A load unit having an urging member for applying a load in a load direction to the drive unit; a driving unit for moving the load unit in a direction approaching and separating from the output shaft; and detecting a position of the load transmitting member. First position detecting means, second position detecting means for detecting the position of the load means, and the drive based on position data detected by the first position detecting means and the second position detecting means. Load device, characterized in that which is configured by providing a control means for controlling the actuating means. 3. The load device according to claim 2, wherein said second position detecting means detects a rotation angle of said output shaft. 4. A load device for use in detecting an operating characteristic of an auxiliary device for an automobile steering, wherein the output device includes an input shaft and an output shaft and outputs an increased torque with respect to an input torque. A load device for applying a specified load to a shaft, wherein the biasing shaft is connected directly or indirectly to the output shaft, and applies a torque corresponding to a torsion angle in a direction against the input torque. Driving means for rotating a biasing axis about an axis; first angle detecting means for detecting a rotation angle of the output shaft; second angle detecting means for detecting a torsion angle of the biasing shaft; And a control unit for controlling the operation of the driving unit based on the angle data detected by the angle detection unit and the angle data detected by the second angle detection unit.