JP2009192484A - Endurance test equipment of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endurance test equipment of vehicles which efficiently can test vehicles for endurance. <P>SOLUTION: The endurance test equipment of vehicle C using industrial robots 1 to evaluate durability of the vehicle C by repetitively operating its plural moving parts D, is provided with: a guide rail 11 mounted on the position externally separated from circumference of the vehicle C so as to surround the vehicle C in plan view; a plurality of industrial robots 1 in which guide rollers engaged with the guide rail 11 are protrusively attached to undersurface of the robot base 3, while air casters 13 for supplying compressed air to support and surface upper load from floor face are attached to undersurface of the robot base 3; and fixing means 21 for fixing positions of these industrial robots 1 in optional places where they have been relocated along the guide rail 11. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle durability test apparatus for evaluating durability by repeatedly operating a movable part of a completed vehicle.

Endurance tests conducted by repeatedly operating movable parts such as doors, pedals, and levers in a completed vehicle that has been assembled as a prototype vehicle or a mass-produced vehicle are extremely important for understanding problems related to durability. .
Such an endurance test needs to be repeated several hundreds of thousands of times for each movable part, and since there are many places where the test is performed, it is performed using a highly versatile industrial robot. It is common.

  As a vehicle durability test apparatus using such an industrial robot, one industrial robot is installed on a robot traveling apparatus extending in the front-rear direction along one of the left and right side surfaces of the vehicle to be subjected to the endurance test. Various operation attachments for performing each test item of the durability test, a tool changer for selectively mounting the attachment to the attachment mounting portion at the tip of the robot, and a durability test according to the test items. For example, there is a control means (see Patent Document 1) provided with a control means for controlling the robot or the like at a predetermined position around the robot.

Japanese Patent No. 3557432 (FIG. 1)

The durability test apparatus for a vehicle having the configuration of Patent Document 1 can continuously perform another durability test by replacing the attachment after the end of one durability test.
However, by moving one industrial robot installed on the robot traveling device in the front-rear direction and expanding its operating range in the front-rear direction, it is possible to perform durability tests on the front and rear doors, pedals, and levers of the vehicle. Since the endurance test is sequentially performed corresponding to the position of the portion, there is a problem that the endurance test takes too much time.
In addition, a robot traveling comprising a traveling rail and a rack extending in the front-rear direction on the side of the industrial robot, a traveling motor having a pinion meshing with the rack mounted on an output shaft, a traveling platform on which the industrial robot is mounted, and the like. Since there is a device, such a bulky robot traveling device may interfere with the loading and unloading of vehicles and teaching work of industrial robots. There is also a problem that the workability of the unloading work and the teaching work of the industrial robot deteriorates.

  Therefore, in view of the above-mentioned situation, the present invention intends to solve the problem that the time required for the durability test can be shortened, and various types of vehicles are brought into and out of the durability test area and the industry. The object of the present invention is to provide a vehicle durability test apparatus that can improve the workability of teaching work of a robot and can improve the efficiency of a vehicle durability test.

  A vehicle durability test apparatus according to the present invention is a vehicle durability test apparatus for evaluating durability by repeatedly operating a movable portion of a vehicle with an industrial robot in order to solve the above-described problem. A guide rail installed so as to surround the vehicle and a guide roller that engages with the guide rail protrude from the lower surface of the robot base and supplies compressed air at a position spaced outward from the outer periphery of the vehicle. A plurality of industrial robots mounted on the lower surface of the robot base with air casters that support the loading load and float from the floor surface, and any position where these industrial robots are moved along the guide rails or And fixing means for fixing the position at a predetermined position.

  Here, it is preferable that the guide rail with which the guide roller is engaged is embedded in the floor so that the floor surface is flat.

  Further, it is preferable that one guide roller protrudes from the center of the lower surface of the robot base, and the air casters are attached to the four corners of the lower surface of the robot base.

  Further, the fixing means is supported so as to be slidable in the horizontal direction across the guide rail along the side surface of the robot base having a substantially rectangular shape in plan view, and is screwed to the slide body and extends in the vertical direction. A screw shaft, a guide roller that is provided at a lower end of the screw shaft and engages with the guide rail, a lever that rotates the screw shaft, and a stopper that disables the sliding movement of the slide body are preferable. .

The vehicle durability test apparatus according to the present invention is a vehicle durability test apparatus that evaluates durability by repeatedly operating a movable part of a vehicle with an industrial robot, from the outer periphery of the vehicle in a plan view. A guide rail installed so as to surround the vehicle and a guide roller that engages with the guide rail project from the lower surface of the robot base at a position spaced apart to the outside. A plurality of industrial robots attached to the lower surface of the robot base and air casters that support and float from the floor surface, and at any or a predetermined position where these industrial robots are moved along the guide rail A plurality of industrial robots by supplying compressed air to the air caster in a state in which the fixing by the fixing means is released. By moving the robot from the floor, multiple industrial robots can be easily moved manually along the guide rails to a position that matches the durability test item to be performed. In this state, the supply of compressed air to the air caster can be stopped and fixed by the fixing means.
Therefore, a plurality of industrial robots are quickly moved along the guide rails installed so as to surround the vehicle to a position corresponding to the durability test item, and a plurality of movable parts in one vehicle are moved by these industrial robots. Since the durability test can be performed in parallel, the time required for the vehicle durability test can be shortened.

In addition, there are no bulky robot traveling devices around the vehicle, and there are no structures that obstruct the vehicle when putting it in and out of the durability test area or teaching industrial robots. Since the workability of carrying in and out of the durability test area and the teaching work of the industrial robot is improved, the efficiency of the durability test of the vehicle can be further improved.
In addition, if the industrial robot is removed from the guide rail and compressed air is supplied to the air caster, it can be easily moved manually, so that it is suitable for durability test items between multiple durability test areas. Since an industrial robot having a range, a tool, and the like can be easily moved and used as necessary, the industrial robot for durability test can be effectively used.
Alternatively, if a connecting guide rail that connects the guide rails in multiple durability test areas is installed, compressed air can be supplied to the air caster and easily moved manually without removing the industrial robot from the guide rail. By setting the state, the industrial robot can be moved along the connection guide rail between a plurality of endurance test areas and effectively used.
In addition, the pressure that can actually be generated in the vehicle by simultaneously operating a plurality of doors (for example, left and right front doors and left and right rear doors) by a plurality of industrial robots (for example, four industrial robots) around the vehicle. Because it can measure the magnitude of vibration or noise, it is suitable for measuring not only the durability test but also the pressure level that can actually occur in these vehicles. Alternatively, by measuring the magnitude of the pressure after the durability test, it is possible to grasp the magnitude of the pressure that can actually occur in the vehicle and use it for design improvement.

  In addition, if the guide rail with which the guide roller engages is embedded in the floor so that the floor surface is flat, the periphery of the vehicle becomes flat, so that the vehicle is brought into and out of the durability test area. The workability of carrying out work and teaching work of industrial robots can be further improved.

  Further, when one guide roller is projected at the center of the lower surface of the robot base and the air casters are attached to the lower four corners of the robot base, in addition to the above effects, the air casters at the lower four corners of the robot base are used for industrial purposes. Industrial use along the entire path of the guide rail including the curved portion with one guide roller protruding from the center of the bottom surface of the robot base engaged with the guide rail while the robot is stably and reliably ascending. The robot can be easily moved.

  Furthermore, the fixing means includes a slide body supported so as to be slidable in a horizontal direction across the guide rail along a side surface of the robot base having a substantially rectangular shape in plan view, and screwed into the slide body in the vertical direction. A screw shaft that extends, a guide roller that is provided at a lower end of the screw shaft and engages with the guide rail, a lever that rotates the screw shaft, and a stopper that disables the sliding movement of the slide body. In addition to the effects described above, the slide body is fixed to the robot base by a stopper with respect to the industrial robot after being moved to a desired position along the guide roller for the vehicle durability test, and the screw shaft by the lever. The industrial robot is rotated by moving the guide roller up and down relative to the guide rail to press the guide roller. , Without fixing to the floor, it can be easily and reliably fixed to the guide rail.

  Next, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments shown in the accompanying drawings, and includes all the embodiments that satisfy the requirements described in the claims. It is a waste. In this specification, the direction along the guide rail is the front-rear direction, and the horizontal direction orthogonal to the front-rear direction is the left-right direction.

1 to 8 are schematic views showing the configuration of a vehicle durability test apparatus according to an embodiment of the present invention. FIG. 1 is a plan view of two durability test areas A1 and A2, and FIGS. Is an enlarged view of each endurance test area A1, A2, FIG. 4 is a longitudinal sectional view taken along the line XX in FIG. 2, FIG. 5 is an enlarged partial sectional view of the main part showing the configuration of the fixing means 21, and FIG. FIG. 7 is an operation principle diagram of the air caster 13, and FIG. 8 is an enlarged fragmentary sectional view showing an example of a configuration in which the guide rail is embedded in the floor.
5A and 8 are views seen from the horizontal direction along the guide rail 11, FIG. 5B is a view seen from the horizontal direction perpendicular to the guide rail 11, and FIG. 6A is a robot base. FIG. 6B is a diagram showing a state in which the side surfaces with the three fixing means 21 and 21 are orthogonal to the guide rail 11. FIG. 6B shows a state in which the robot base 3 is swung around the vertical axis from the state of FIG. FIG.

As shown in FIGS. 1 to 4, durability test areas (endurance test rooms) A <b> 1 and A <b> 2 are each surrounded by a safety fence (wall) B, and a vehicle C performing a durability test is fixed to the center of the vehicle. It is installed on the floor surface F in a state of being fixed by the jigs E,.
Further, in a plan view, a guide rail 11 having a shape in which, for example, a rectangular corner portion is combined with a straight line portion and a curved portion so as to surround the vehicle C at a position spaced outward from the outer periphery of the vehicle C. A robot base 3,... Of a plurality of industrial robots 1, 2,... (Four industrial robots in the present embodiment) that is installed and can be easily moved manually along the guide rail 11 as will be described later. These are fixed at appropriate positions by fixing means 21 and 21, respectively.

The shape of the guide rail 11 may be a configuration using only a curved rail such as an ellipse in a plan view or a configuration using only a straight rail as shown by a two-dot chain line in FIG.
Moreover, since the guide rail 11 is configured by connecting a block rail having a predetermined shape, the configuration can be easily rearranged in accordance with the size and shape of the vehicle C. For example, when the vehicle C is a light vehicle and the total length is short, the installation position of the guide rail 11 can be easily changed to the inside as shown by a two-dot chain line in FIG.

The robot power panel 7 and the robot control panel 8 are connected to the plurality of industrial robots 1, 2,..., Respectively, and teaching work can be performed by the teaching pendant 9, and one vehicle is controlled by the central control panel 10. Since a plurality of industrial robots 1, 2,... Arranged around the C can be collectively controlled, a durability test of a plurality of movable parts D,. Can be done.
1 to 3 illustrate only the left and right front doors, the left and right rear doors and the left and right sliding doors on which the durability test is performed are included in the movable portion D. , Hatch back doors, bonnets or trunks, accelerator pedals, brake pedals or clutch pedals, shift levers, parking brake levers, or the like.

  Further, the industrial robots 1 and 2 are, for example, a 6-degree-of-freedom vertical articulated type so that an operation close to a human operation can be performed with a high degree of freedom in changing the position and posture. Since the arm is located outside the vehicle C, for example, an endurance test around the outside of the vehicle C is performed, and the industrial robot 2 can insert the robot arm into the vehicle through the door opening of the vehicle C. For example, endurance tests both inside and outside the vehicle C can be performed.

As shown in FIG. 4, for example, the front end flange (tool flange) 4 of the industrial robot 1,... Is attached with two divided (or three or more divided) rotary chucks 5 </ b> A and 5 </ b> B. Tools 6A and 6B suitable for the test items are attached to 5A and 5B.
In addition, as shown in FIGS. 1 and 3, the industrial robot 2 is also provided with a tool 6 </ b> C suitable for the test item on the tip flange.
Therefore, by driving the industrial robots 1, 2,... In a state in which a tool selected in accordance with the test item is engaged with an attachment (not shown) attached to the plurality of movable parts D,. , ... can be operated simultaneously to perform the durability test in parallel.

By attaching the rotary chuck as described above to the tip flange of the industrial robot 1, 2,... And attaching a plurality of tools, it is possible to shorten the time for replacing the tool. The time required can be reduced.
If the tool needs to be replaced to work with a tool other than the tool mounted on the rotary chuck, it may be replaced manually, or an ATC (Automatic Tool) installed at an appropriate position in the durability test area. Changer) may be used.

Next, the engagement of the industrial robots 1, 2,... With the guide rail 11 and the movement after the engagement will be described.
As shown in FIG. 5A, the guide rail 11 is formed with left and right rail portions 11B and 11B opposite to the U-shaped opening below the opening 11A on the upper surface. The separation part 11C shown in 3 can be removed.
Further, as shown in FIGS. 5B and 6, one shaft 12A and a guide roller 12B below the shaft 12A project from the center of the lower surface of the robot base 3 of the industrial robot 1, 2,. As shown in FIG. 5, the fixing means 21 and 21 on the front and rear sides of the robot base 3 are provided with a screw shaft 24A and a guide roller 24B below the screw shaft 24A.
Therefore, the guide rollers 24B, 12B, and 24B positioned on the front and rear of the robot base 3 can be engaged with the left and right rail portions 11B and 11B of the guide rail 11 with the separation portion 11C of the guide rail 11 removed.

Here, after the separation part 11C of the guide rail 11 is removed, after all the industrial robots 1, 2,... Necessary for performing the durability test of the vehicle C are engaged with the guide rail 11, the separation part. If the 11C is returned to the state before removal as shown in FIG. 2 and fixed to the floor F, the industrial robots 1, 2,... Are moved along the endless guide rail 11 surrounding the vehicle C in plan view. Can be moved to an appropriate position.
Note that the guide rail 11 is not limited to an endless shape surrounding the periphery of the vehicle C in a plan view, and a part of the guide rail 11 is notched from the beginning, for example, the separation portion 11C does not exist from the beginning. It may be configured as follows.

As shown in FIG. 5 and FIG. 6, the air casters 13,... That float from the floor surface F by supporting compressed loads by supplying compressed air are attached to the bottom corners of the robot base 3. Can be easily moved manually by supplying compressed air to 13,...
The operating principle of such an air caster 13 will be described with reference to FIG.
As shown in FIG. 7A, in the air caster 13 in a state where the compressed air 17 is not supplied, the ground pad 15 attached to the lower surface of the base body 14 is grounded to the floor surface F. Since the upper load W is supported, the annular torus bag 16 is protected from being damaged by receiving the upper load W.

As shown in FIG. 7B from the state shown in FIG. 7A, when the compressed air 17 is supplied from the pipe 18, the compressed air 17 is supplied from the supply chamber 19 to the torus bag 16, and the torus bag 16 expands. At the same time, since the compressed air 17 is filled from the supply chamber 19 into the sealed space 20 formed between the floor surface F, the internal pressure P of the sealed space 20 increases.
When the compressed air 17 is further supplied from the state shown in FIG. 7B and the internal pressure P rises to support the loading load W as shown in FIG. 7C, the torus bag 16 and the floor Air uniformly leaks from the surface F, and the upper load W and the air caster 13 are placed on a thin air layer (about 0.1 mm), and the air caster 13 supporting the upper load W is the floor. Since the state of floating on the surface F is maintained and the coefficient of friction is significantly reduced (for example, about 0.001 to 0.007), the heavy-duty industrial robots 1, 2,. 11 can be moved along.

In addition, since one guide roller 12B protruding from the center of the lower surface of the robot base 3 is engaged with the guide rail 11, in a state where the fixing by the fixing means 21 and 21 described later is released, While the industrial robots 1, 2,... Are stably and reliably levitated by the air casters 13,... At the four corners of the lower surface, one guide roller 12B is placed along the guide rail 11 and the entire guide rail 11 including the curved portion is included. The industrial robots 1, 2,... Can be easily moved along the route.
When the industrial robots 1, 2,... That are not engaged with the guide rails 11 are engaged with the guide rails 11 as described above, the compressed air 17 is supplied to the air casters 13,. If the industrial robots 1, 2,... Are lifted, the industrial robots 1, 2,... Can be easily moved manually, so that the industrial robots 1, 2,. Work can be done easily.

Next, fixing after the industrial robots 1, 2,... Are moved along the guide rail 11 will be described.
As shown in FIGS. 5 and 6, the fixing means 21, 21 of the industrial robots 1, 2,... Are provided by upper and lower linear guides 23, 23 attached along the side surface of the robot base 3 that is substantially rectangular in plan view. , A slide body 22 supported so as to be slidable in the horizontal direction across the guide rail 11, a screw shaft 24A screwed to the slide body 22 and extending in the vertical direction, and a guide rail provided at the lower end of the screw shaft 24A. 11, a guide roller 24 </ b> B that engages 11, a lever 25 that rotates the screw shaft 24 </ b> A, and stoppers 26 and 26 that disable the sliding movement of the slide body 22.

  The stoppers 26, 26 attached to the slide body 22 of the fixing means 21 at the front and rear in the slide movement direction of the slide body 22 are levers of bolts 27 </ b> A (see FIG. 5B) orthogonal to the side surface of the robot base 3. The bolt 27A is screwed into a screw hole 27B (see FIG. 5) formed in a horizontal direction along the side surface of the robot base 3 and positioned between the upper and lower linear guides 23. Thus, the movement of the horizontal slide body 22 along the side surface of the robot base 3 is prevented, and the bolt 27A is rotated by the lever 28 to release the screw engagement between the bolt 27A and the screw hole 27B. It is also easy to make the slide movement of the slide body 22 possible.

According to the fixing means 21 and 21 configured as described above, the guide roller 24B is moved to the guide rail 11 by rotating the screw shaft 24A by the lever 25 while the slide body 22 is fixed to the robot base 3 by the stoppers 26 and 26. The industrial robots 1, 2,... Are moved up and down against the guide rail 11 without being fixed to the floor F at any position moved along the guide rail 11. It can be fixed easily and reliably.
The fixing means for the industrial robots 1, 2,... Is configured to fix the industrial robots 1, 2,... To the guide rails or the floor surface with bolts or the like at predetermined positions where the industrial robots 1, 2,. Etc.

When the industrial robots 1, 2,... Are moved along the guide rail 11, the lever 25 of the fixing means 21 is rotated to release the pressure contact of the guide roller 24B with the guide rail 11, and the stopper 26. , 26 is rotated to release the screw 27 B from the screw hole 27 B so that the slide body 22 can be slid along the side surface of the robot base 3.
In a state in which the slide body 22 of the fixing means 21, 21 is slidable along the side surface of the robot base 3, for example, from the state of FIG. 6A to the state of FIG. Since the robot base 3 can be easily rotated around one guide roller 12B projecting from the vehicle C, the degree of freedom of installation of the industrial robots 1, 2,. The work efficiency of setup can be improved.

According to the configuration of the vehicle durability test apparatus as described above, a plurality of industrial robots 1, 2,... Are supplied by supplying compressed air to the air casters 13,. By floating from the floor surface F, a plurality of industrial robots 1, 2,... Can be easily moved manually along the guide rail 11 to a position according to the durability test item to be performed. It is possible to stop the supply of compressed air to the air casters 13,.
Therefore, the plurality of industrial robots 1, 2,... Are quickly moved along the guide rails 11 installed so as to surround the vehicle C to positions corresponding to the durability test items. Because the endurance test of the plurality of movable parts D in one vehicle C can be performed in parallel, the time required for the endurance test of the vehicle C can be shortened.

  In addition, there is no bulky robot traveling device around the vehicle C, and the structure that gets in the way when the vehicle C is put in and out of the endurance test areas A1, A2 and teaching work of the industrial robots 1, 2,. Since there are no objects, the workability of bringing various types of vehicles into the durability test areas A1, A2 and carrying out from the durability test areas A1, A2 and teaching work of the industrial robots 1, 2,. Furthermore, the efficiency of the durability test of the vehicle C can be improved.

In addition, even if the industrial robots 1, 2,... Are removed from the guide rail 11, if the compressed air 17 is supplied to the air casters 13,. As indicated by the chain line, industrial robots 1, 2,... Having operation ranges and tools suitable for durability test items are easily moved between a plurality of durability test areas (for example, A1, A2) as necessary. Therefore, it is possible to effectively use the industrial robots 1, 2,... For durability testing.
Alternatively, if connecting guide rails that connect the guide rails 11,... In a plurality of durability test areas (for example, A1, A2) are installed, the air can be removed without removing the industrial robots 1, 2,. The industrial robots 1, 2,... Are moved along the connection guide rails between a plurality of durability test areas by supplying compressed air 17 to the casters 13,. Can be used effectively.

  When such a connecting guide rail is installed or when the industrial robot is not moved between a plurality of durability test areas, the guide rail 11 is embedded in the floor as shown in FIG. The floor F can be flattened including the guide rail installation location so that there is no portion protruding upward from F. If comprised in this way, the guide rollers 12B and 24B will be located below the lower surface (floor surface F) of the air caster 13, but the industrial robots 1, 2,... Thus, the guide rail 11 can be moved in the same manner as when not embedded in the floor. By embedding the guide rail 11 in the floor in this way, the periphery of the vehicle C becomes flat, so that the workability of carrying in and out of the durability test area of the vehicle and teaching work of the industrial robot is improved. Further improve.

  In addition, by operating a plurality of doors (for example, left and right front doors and left and right rear doors) simultaneously with a plurality of industrial robots 1, 2,... (For example, four industrial robots) around the vehicle C, the vehicle Since it is possible to measure the magnitude of pressure, vibration or noise that can actually occur in C, it is suitable not only for endurance testing but also for measuring the magnitude of pressure that can actually occur in these vehicles C. Since it is a structure, it can grasp | ascertain the magnitude | size etc. of the pressure which can actually generate | occur | produce in the vehicle C by measuring the magnitude | size etc. of the said pressure before an endurance test, or after an endurance test, and can utilize for design improvement.

FIG. 2 is a plan view of the entire two durability test areas A1 and A2 in the vehicle durability test apparatus according to the embodiment of the present invention. It is an enlarged view of durability test area A1. It is an enlarged view of durability test area A2. FIG. 3 is a longitudinal sectional view taken along the line XX in FIG. 2. It is a principal part expanded partial sectional view which shows the structure of a fixing means, (a) is the figure seen from the horizontal direction along a guide rail, (b) is the figure seen from the horizontal direction orthogonal to a guide rail. It is a top view similarly, (a) is a figure which shows the state in which the side with a robot base fixing means orthogonally crosses a guide rail, (b) rocked the robot base around the vertical axis from the state of (a) It is a figure which shows a state. It is an operation principle diagram of an air caster. It is the principal part expanded partial sectional view seen from the horizontal direction along a guide rail which shows the structure which embeds a guide rail in a floor.

Explanation of symbols

A1, A2 Durability test area (Durability test room)
B Safety fence (wall)
C Vehicle D Movable part E Vehicle fixing jig F Floors 1, 2 Industrial robot 3 Robot base 4 Tip flange (tool flange)
5A, 5B Chuck 6A, 6B, 6C Tool 7 Robot power panel 8 Robot control panel 9 Teaching pendant 10 Central control panel 11 Guide rail 11A Opening 11B Rail part 11C Separating part 12A Shaft 12B Guide roller 13 Air caster 14 Base 15 Grounding pad 16 Torus bag 17 Compressed air 18 Pipe 19 Supply chamber 20 Pressure chamber 21 Fixing means 22 Slide body 23 Linear guide 24A Screw shaft 24B Guide roller 25 Lever 26 Stopper 27A Bolt 27B Screw hole 28 Lever

Claims (4)

A vehicle durability test apparatus for evaluating durability by repeatedly operating a moving part of a vehicle with an industrial robot,
In a plan view, a guide rail installed to surround the vehicle at a position spaced outward from the outer periphery of the vehicle;
A guide roller that engages with the guide rail protrudes from the lower surface of the robot base, and an air caster that supports the upper load and floats from the floor surface by supplying compressed air is attached to the lower surface of the robot base. Multiple industrial robots,
A fixing means for fixing the position at an arbitrary position or a predetermined position where the industrial robot is moved along the guide rail;
A vehicle durability test apparatus characterized by comprising:   2. The vehicle durability test apparatus according to claim 1, wherein the guide rail engaged with the guide roller is embedded in the floor so that the floor surface is flat.   The vehicle durability test apparatus according to claim 1 or 2, wherein one guide roller projects from the center of the lower surface of the robot base, and the air casters are attached to four corners of the lower surface of the robot base. The fixing means is supported so as to be slidable in a horizontal direction across the guide rail along the side surface of the robot base having a substantially rectangular shape in plan view, and a screw shaft that is screwed to the slide body and extends in the vertical direction. A guide roller that is provided at a lower end portion of the screw shaft and engages with the guide rail, a lever that rotates the screw shaft, and a stopper that disables the sliding movement of the slide body. Or the durability test apparatus of the vehicle of 2.

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