JP6522372B2 - Vehicle endurance test equipment - Google Patents

Description

  According to the present invention, an opening and closing operation attachment is provided with a pressing member for pressing the opening and closing body supported rotatably toward the vehicle opening, and the opening and closing operation attachment is closed when the opening and closing body is closed. A durability test of a vehicle including a drive control device for moving along a locus, and repeatedly opening and closing the opening and closing body from the open position of the vehicle opening to the closed position, thereby inspecting occurrence of a defect of the vehicle accompanying the repeated opening and closing The present invention relates to an apparatus, and more particularly to a closed operation configuration capable of responding to various test objects and conditions with a simple configuration.

Conventionally, in durability tests of vehicles such as automobiles, open and close doors such as back doors, side doors, luggage compartment doors, etc. supported rotatably are repeatedly opened and closed, and spot welds and hinges are performed every predetermined number of times of opening and closing. A technique related to a durability test for inspecting cracks and breakage of a panel, deterioration of an open / close damper, and the like is known (for example, see Patent Document 1).
In this technology, a plurality of arms are rotated by a drive control device, and the opening and closing door is pushed toward the door opening of the vehicle by the tip of the arm to close the door opening. .

Unexamined-Japanese-Patent No. 4-89546

  In the above technology, a pad is attached to the tip of the arm, and the pad is pressed with a predetermined input load while pressing the pad directly against the opening / closing door to perform the closing operation of the opening / closing door. In order to prevent the test accuracy from decreasing due to the input load causing distortion in the open / close door and its peripheral members, the movement of the pad is synchronized with the closed trajectory of the open / close door and then in the tangential direction of the closed trajectory. It is necessary to apply an approximately vertical input load to the outer surface of the open / close door and limit the point of action of the input load to a specific location so that the input load can be stably loaded to suppress the generation of the strain. there were.

  This requires complicated and highly accurate position control. In particular, when the operation of the arm is performed by a robot, advanced techniques are required for the teaching operation of the robot, and the test cost is increased due to an increase in teaching cost. There is a problem that the test object and the condition are limited due to the increase and the decrease of the upper limit of the operation speed.

  The problem to be solved by the present invention is as described above, and next, means for solving the problem will be described.

That is, according to the first aspect of the invention, the opening / closing operation attachment attached with the pressing member for pressing the opening / closing body supported rotatably toward the vehicle opening, and the opening / closing operation attachment during the closing operation of the opening / closing body And a drive control device for moving along the predetermined closed trajectory of the vehicle, and by repeatedly opening and closing the opening and closing body from the open position of the vehicle opening to the closed position, the occurrence of a defect of the vehicle accompanying the repeated opening and closing is inspected. In the endurance test device for a vehicle, the pressing member has a rolling structure in which a rolling element supported by a holding body rolls the surface of the opening and closing body and pushes the opening and closing body toward the vehicle opening. Yes, and the driving control device, toward the closed position from immediately before the closed position, performs acceleration control that enables a snap operation with increased acceleration of the closing member, the the pressurized deceleration control, detection of the acceleration And fed back to the input load to the opening and closing operation the attachment and is intended to concurrently implement acceleration correction control for correcting to limit the acceleration within a predetermined range.

In the second aspect , the opening and closing operation attachment attached with a pressing member for pressing the opening and closing body supported pivotably toward the vehicle opening, and the opening and closing operation attachment at the time of closing the opening and closing body And a drive control device for moving along the closed trajectory of the vehicle, and by repeatedly opening and closing the opening and closing body from the open position of the vehicle opening to the closed position, the inspection of the occurrence of a defect of the vehicle accompanying the repeated opening and closing In the endurance test device, the pressing member has a rolling structure in which a rolling element supported by a holding body rolls the surface of the opening and closing body and pushes the opening and closing body toward the vehicle opening. the driving control device, toward the closed position from immediately before the closed position, performs acceleration control that enables a snap operation with increased acceleration of the closing member, the acceleration control, the opening and closing operation Atatchime To provide a one-axis drive range in which the open / close member is urged toward the opening of the vehicle by the pressing member attached to the opening / closing operation. is there.

In the third aspect of the present invention, the opening / closing operation attachment is synchronized with the closed locus of the opening / closing body, and the first locus corresponding to the immediately preceding closed position from the open position to the closed position immediately before the closed position. The first locus and the second locus are provided on different arcs while moving along a second locus corresponding to.

  Since the present invention is configured as described above, the following effects can be obtained.

That is, according to Claim 1, the rolling element is pushed while rolling on the outer surface of the opening / closing door only by synchronizing the operation of the rolling element with the closed track of the opening / closing door, so the action on the outer surface It is possible to disperse the input load while moving the point freely, and to suppress the occurrence of distortion of the open / close door and its peripheral members. This eliminates the need for complicated and high-precision drive control for controlling the input direction of the input load and the position of the application point, and in particular, even when combining a plurality of arms and performing the operation of the opening / closing operation attachment with a robot The teaching operation of the robot can be simplified, the test cost can be reduced by the reduction of the teaching cost, and the test object and the conditions can be expanded by the increase of the upper limit of the operation speed.
Further, in the acceleration control, the operation close to the closing operation of the opening and closing door by the driver can be reproduced, and the test accuracy can be further improved. Furthermore, during this snap operation, the impact force acting on the vehicle opening from the opening and closing body is caused by the deterioration of the parts of the opening and closing door and its mounting portion and the temperature change of the operating characteristics of the opening and closing air cylinder. An excessive increase can be reliably prevented, and the test accuracy can be further improved.

According to claim 2 , in the acceleration control , the pressing member is more stable than in the case of multi-axis driving in which the opening / closing body is pushed toward the vehicle opening using the opening / closing operation attachment rotating in multiple directions around multiple axes. Thus, the opening / closing body can be pushed toward the opening of the vehicle at high speed with high accuracy, and the test speed and the test accuracy can be improved. Furthermore, the power required to drive the shaft can be small, and the running cost can also be reduced.

According to the third aspect , the first locus and the second locus can be defined at each of three points, and simple drive control can be performed as compared with the case where the locus of the opening / closing operation attachment is configured from a single complex curve. As a result, when the operation of the opening / closing operation attachment is performed by the robot, it is possible to further reduce the test cost due to the reduction of the teaching cost, and to expand the test target and the condition due to the increase of the upper limit of the operation speed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the whole structure of the endurance test device of the vehicle concerning this invention. It is a side view of opening and closing operation attachment. It is also a plan view. It is also a front view. It is a side view which shows the closing operation condition in a 1st closing operation area. It is a side view which shows the closing operation condition in a 2nd closing operation area. It is explanatory drawing which shows a time-dependent change at the time of closing operation of acceleration and distortion amount. It is an explanatory view showing change for every sampling of maximum acceleration and its average acceleration. It is a flowchart of acceleration correction control.

  Hereinafter, embodiments of the present invention will be described in detail. The direction shown by the arrow F in FIG. 1 is the front of the endurance test apparatus 1 of the vehicle 2 according to the present invention, and the positions, directions, etc. of the respective members described below are based on this front.

  First, the overall configuration of the endurance test apparatus 1 according to the present invention will be described with reference to FIGS. 1 and 2.

  The endurance test apparatus 1 includes an opening / closing operation attachment 3 for opening / closing the opening / closing door of the vehicle 2, in this embodiment, the back door 5, and a door position for fully closing from the fully open door position 62a when the back door 5 is closed. The drive control device 4 is provided to move the opening / closing operation attachment 3 along a locus (hereinafter referred to as a “closed locus”) 6 of the outer end of the back door 5 up to 62f.

  The drive control device 4 combines a plurality of arms 13, 14, 15, 16 and 17 via a plurality of connection portions 7a, 7b, 7c, 7d and 7e, and mounts the opening / closing operation attachment 3 at its tip. A robot body 7, an actuator group such as a pressure pump, a vacuum pump, and a feeder for operating actuators such as a pneumatic cylinder, a pneumatic motor, etc. of the arms 13, 14, 15, 16 and 17, the actuator group 8. A robot controller 9 which transmits an operation signal to 8 to impart a pivoting function about the axis of the arms 13, 14, 15, 16 and 17, and various control signals to the robot controller 9 to perform acceleration control described later The main controller 10 performs acceleration correction control.

  In the robot main body 7, a base 36 having a rectangular shape in a plan view is fastened and fixed on the floor surface 12 on which the vehicle 2 is disposed, and an arm base 37 is mounted and fixed on the base 36.

  The base arm 13 is supported on the arm base 37 so as to be horizontally pivotable about a longitudinal axis 11a, thereby forming the connecting portion 7a. The proximal end 14a of the first rectangular arm 14 is supported on the base arm 13 so as to be pivotable back and forth around the horizontal axis 11b, thereby forming the connecting portion 7b.

  Furthermore, the proximal end 15a of the second cylindrical arm 15 whose diameter is reduced in diameter at the tip end 14b of the first arm 14 is supported so as to be able to rotate back and forth around the horizontal axis 11c, The portion 7c is formed. The proximal end 16a of the cylindrical third arm 16 is rotatably supported by the distal end 15b of the second arm 15 around an axial center 11d coaxial with the second arm 15 The connection portion 7d is formed.

  In addition, the proximal end 17a of the attachment arm 17 having a short cylindrical shape is supported at the distal end 16b of the third arm 16 so as to be rotatable back and forth around the horizontal axis 11e, thereby forming the connecting portion 7e. Ru. The opening / closing operation attachment 3 is mounted on the tip end 17b of the attachment arm 17 so as to be horizontally rotatable around the vertical axis 11f.

  Thereby, after the arms 13, 14, 15, 16 and 17 are combined, the opening and closing operation attachment 3 is attached to the tip thereof, and then the opening and closing operation attachment 3 is operated by operating the operating device group 8. It can be driven by six-axis drive by rotation around the book axes 11a, 11b, 11c, 11d, 11e, 11f.

  The operation signal for driving the six axes is transmitted from the robot controller 9 to a valve device or the like in the operating device group 8. Furthermore, from the main controller 10 to the robot controller 9, from the control program stored in the storage device 10 a in the main controller 10, basic data such as the number of endurance times, reference acceleration, correction basic value and so forth The position / posture signal of the opening / closing operation attachment 3 calculated based on the obtained measurement data or the like is transmitted.

  Further, from the opening / closing operation attachment 3, a mounting bar 18 is provided so as to protrude rearward, and the mounting bar 18 is inserted from the front into a mounting block 19 fixed to the lower surface of the tip 17b of the attachment arm 17. Ru.

  A fixing screw 20 is screwed into the mounting block 19 from below, and the tip end of the screw 20 can abut on the outer peripheral surface of the mounting bar 18, and the mounting bar 18 is integrated with the mounting block 19. I am able to do it.

  Furthermore, one end of a mounting and demounting lever 21 is connected to the screw 20, and by holding the mounting and demounting lever 21 and rotating approximately horizontally, the screw 20 is retracted from the outer peripheral surface of the mounting bar 18, The mounting bar 18 is detachable from the mounting block 19.

  Thus, the opening and closing operation attachment 3 can be easily attached and detached to and from the attachment arm 17, and the opening and closing operation attachment 3 can be made more easily in accordance with the difference in vehicle type and the test target site such as slide door, pedal, and lever. It is possible to freely exchange it for suitable ones, to improve versatility of the endurance test, and to shorten the test cost and the entire test time by omitting the device replacement operation.

  Next, the configuration of the opening / closing operation attachment 3 will be described with reference to FIGS. 1 to 5.

  In the opening / closing operation attachment 3, the front end of the mounting bar 18 is inserted into and fixed to the mounting stay 23 from the rear, and the mounting stay 23 is fixed to the lower surface of the rear open U-shaped fixing member 46 in a rear view. ing.

  And while this fixing member 46 is fitted by the horizontal width central part of the square cylindrical frame 22 extended in the left-right direction, the frame 22 is provided with a first door opening operation mechanism 24 and a pair of left and right second doors. The opening operation mechanism 25, the overload input mechanism 26, and the pair of left and right door closing operation mechanisms 27 are assembled.

  In the first door opening operation mechanism 24 among them, the left half of the mounting back plate 28 is fixed to the back of the right end of the frame 22, and the load cell 29 is mounted in front of the right half of the mounting back plate 28. The hooking device 38 is attached via.

  The hooking tool 38 has a cylindrical base 30 externally fitted to the tip of a detection bar 29a projecting forward from the load cell 29, and upper and lower support plates 31 projecting forward from above and below the front end of the base 30. 31, a support shaft 32 axially supported between the support plates 31 and 31 in a vertical direction, and a J-shaped finger member 33 in plan view having a linear base connected to the support shaft 32 so as to be horizontally rotatable. And left and right side plates 34, 34 for holding the support plates 31, 31.

  A signal line 35 is extended from the load cell 29, and the tip of the signal line 35 is connected to the main controller 10 and between the side plate 34 and the left and right side surfaces of the finger member 33, A small gap 39 is provided.

  In such a configuration, as shown in FIG. 1, the opening / closing operation attachment 3 is brought close to the outer handle 40 provided on the side door 41 by the drive control device 4 and then fixed to the outer handle 40. The tip end of the finger member 33 of the hooking member 38 is inserted into the ring 40 a and locked, and the finger member 33 is separated from the vehicle 2 so that the opening operation of the side door 41 can be performed.

  Under the present circumstances, it is set as the structure which can detect the overload to the said hook 38 based on the load signal received by the main controller 10 from the said load cell 29 via the signal wire | line 35, and, thereby, said 1st door opening. Damage to the operating mechanism 24 can be prevented.

  Further, by providing the gap 39, the finger member 33 is not completely fixed to the base 30, but can be horizontally rotated about the support shaft 32 to some extent, whereby the ring 40a is formed. Even if the hooking tool 38 is overloaded due to a problem in the locking condition or the like, the load can be reduced to a certain degree by the rotation of the gap 39 of the finger member 33.

  In the second door opening operation mechanism 25, an L-shaped mounting stay 42 in a side view is fixed on the back of the frame 22 across the mounting bar 18, and the lower plate portion 42 a of the mounting stay 42. A tube 44 communicated with the vacuum pump 8a in the actuating device group 8 through an air pipe 43 is vertically penetrated, and the lower end of the tube 44 is made of an elastic material such as rubber and the inside is A bellows-like suction pad 45 communicated with the vacuum pump 8a through the pipe 44 and the air pipe 43 is provided vertically.

  In such a configuration, after the opening / closing operation attachment 3 is brought close to the vicinity of the back door 5 as shown in FIG. 1 by the drive control device 4, the suction pad 45 is attached to the outer surface 5 a of the back door 5. After the lower opening 45 a is pressed and then vacuumed by the vacuum pump 8 a, the inside of the suction pad 45 is reduced in pressure and adsorbed to the back door 5. The drive control device 4 separates the suction pad 45 from the vehicle 2 so that the back door 5 can be opened.

  In the overload input mechanism 26, a downward open U-shaped support stay 47 is projected forward from the front surface of the fixing member 46, and a load cell 48 is provided on the upper surface of the support stay 47. The pressing tool 49 is attached.

  The pressing tool 49 comprises a cylindrical base 50 fitted on the tip of a detection bar 48 a protruding upward from the load cell 48 and an elastic body such as rubber fixed to the front end of the base 50. It comprises the pressing pad 51. A signal line 52 is extended from the load cell 48, and the tip of the signal line 52 is connected to the main controller 10.

  In such a configuration, as shown in FIG. 1, after the back door 5 is fully opened by the drive control device 4 using the second door opening operation mechanism 25, the pressing on the inner surface 5 b of the back door 5 is performed. By pressing the upper end of the pad 51, the back door 5 can be overloaded from the inside in the opening direction.

  Under the present circumstances, it is set as the structure which can always detect the overload to the said back door 5 based on the load signal received by the main controller 10 from the said load cell 48 via the signal wire | line 52, and, thereby, predetermined overload Can be put on the back door 5.

  In the door closing operation mechanism 27, the upper half portion of the attachment front plate 53 is fixedly provided outside the attachment stay 42 of the second door opening operation mechanism 25 on the front surface of the frame 22. From the front surface of the lower half, a support stay 54 with an open inside in a U-shape is protruded forward, and a pressing tool 55 according to the present invention is attached to the front end of the support stay 54.

  In such a configuration, as shown in FIG. 5, after the opening and closing operation attachment 3 is brought close to the vicinity of the back door 5 by the drive control device 4, the pressing tool 55 is attached to the outer surface 5 a of the back door 5. By pressing and pushing downward toward the back door opening 65, the back door 5 can be closed.

  Next, the structure of the pusher 55 and the closing operation control thereof will be described with reference to FIGS.

  As shown in FIGS. 2 to 4, the pusher 55 has a cylindrical rolling pad 58 made of an elastic material such as rubber, and a support portion 59 that supports the rolling pad 58 so as to be able to rotate back and forth. The support portion 59 is a cylindrical shaft interposed between the support shaft 60 and the rolling pad 58, and a support shaft 60 projecting outward from the front end of the support stay 54 to the left and right. It consists of a roller bearing 61.

  In the push tool 55 having such a structure, for example, as shown in FIGS. 2 and 5, while the back door 5 is lowered from the fully open door position 62a through the halfway door position 62b to the door position 62c. The angle between the center line 54a of the support stay 54 and the tangent 86 between the outer peripheral surface 58a of the rolling pad 58 and the outer surface 5a of the back door 5 is increased as shown by 63a, 63b, 63c, etc. When the load changes, the rolling pad 58 rolls back and forth on the outer surface 5a of the back door 5, and the operating point 66 of the rolling pad 58 moves freely while the input load is dispersed. it can.

  In the present embodiment, although the cylindrical rolling pad 58 has been described as the rolling element, a spherical one such as a ball bearing may be used as the rolling element, and the outer surface 5a of the back door 5 can be freely used. It is not particularly limited as long as it can roll.

  That is, the opening / closing operation attachment 3 to which the pressing member 55 which is a pressing member for pressing the back door 5 which is an open / close body supported rotatably is pushed toward the back door opening 65 which is a vehicle opening And a drive control device 4 for moving the opening / closing operation attachment 3 along a predetermined closed path 6 at the time of closing operation of the back door 5, wherein the back door 5 is an open position of the back door opening 65 In the endurance test device 1 of the vehicle 2 which inspects the occurrence of troubles of the vehicle 2 due to the repeated opening and closing by repeatedly opening and closing from the position 62a to the door position 62f which is the closed position, the pressing member 55 A rolling pad 58, which is a rolling element supported by a support portion 59, rolls on the outer surface 5a, which is a surface of the back door 5, while the back door 5 is moved to the back door opening 6 The rolling pad 58 rolls on the outer surface 5 a of the back door 5 simply by synchronizing the operation of the rolling pad 58 with the closed trajectory 6 of the back door 5. Since the action point 66 is freely moved on the outer surface 5a, the input load can be dispersed, and the occurrence of distortion of the back door 5 and its peripheral members can be suppressed. This eliminates the need for complicated and highly accurate drive control for controlling the input direction and the position of the input load, and in particular, combining the plurality of arms 13, 14, 15, 16 and 17 in the opening / closing operation attachment 3 Even when the operation is performed by the robot main body 7 as a robot, the teaching operation of the robot main body 7 is simplified, the test cost is reduced due to the reduction of the teaching cost, and the test target and the conditions are increased due to the increase of the upper limit of the operation speed. Can be

  Moreover, the closing operation control by such a pressing tool 55 will be described.

  In the closing operation of the back door 5 by the push tool 55, as shown in FIG. 5 and FIG. 6, the driver slowly pushes the back door 5 down from the fully open door position 62a to the door position 62c in the middle of descent. The imitation first closing operation area 71 and the second closing operation area 72 imitating the operation of pushing the back door 5 into the back door opening 65 with force from the door position 62 c to the fully closed door position 62 f The second closed operation area 72 is further divided into a first half preliminary operation range 72a and a second half snap operation range 72b.

  Here, an acceleration sensor 67 is installed at a central corner of the outer surface 5 a of the back door 5 in a plan view. As shown in FIG. 1, a signal line 68 is extended from the acceleration sensor 67, and the tip of the signal line 68 is connected to the main controller 10, and a signal from the acceleration sensor 67 is sent to the main controller 10. The acceleration of the back door 5 can be detected based on the acceleration signal received via the line 68.

  Furthermore, strain gauges 69L and 69R are installed in the vicinity of the hinge portion 73 at the left and right front end portions of the back door 5. Signal lines 70L and 70R are also extended from the strain gauges 69L and 69R, respectively, and respective tips of the signal lines 70L and 70R are also connected to the main controller 10. The main controller 10 is connected to the strain gauges 69L and 70R. The amount of strain of the back door 5 can be detected based on the strain signal received from the signal line 69 L via the signal lines 70 L and 70 R.

  In such a configuration, as shown in FIGS. 5 to 7, in the first closing operation area 71, the position of the support shaft 60 of the rolling pad 58 (hereinafter referred to as “pad position”) is The drive control device 4 is driven for six axes by the drive control device 4 so as to move from the pad position 74a to the pad position 74c through the pad position 74b in the middle.

  Then, the back door 5 pushed down to the rolling pad 58 descends from the door position 62 a through the halfway door position 62 b to the door position 62 c at zero acceleration, that is, at a constant speed, The tensile strain near the hinge 73 gradually decreases.

  Then, after being held at the door position 62c for a short time, it shifts to the preliminary operation range 72a. In the preparatory operation range 72a, the drive control device 4 drives the rolling pad 58 by six axes so as to move from the pad position 74c to the pad position 74e through the pad position 74d on the way.

  Also during this time, the back door 5 descends to the door position 62e from the door position 62c through the door position 62d halfway through at a constant speed, and the tensile strain in the vicinity of the hinge portion 73 gradually decreases.

  As soon as the door position 62e is reached, the snap movement range 72b is entered. In the snap movement range 72b, the rolling pad 58 is indicated by an arrow 76 from the pad position 74e to the pad position 74f centering on the position (hereinafter referred to as "axial position") 11e5 of the horizontal axis 11e. The drive control device 4 is driven by one axis so as to rotate as described above.

  In the present embodiment, the attachment arm 17 is attached to the attachment arm 17 by pivoting back and forth only around the horizontal axis 11e of the axes 11a, 11b, 11c, 11d, 11e and 11f. The single-axis drive of the rolling pad 58 of the opening / closing operation attachment 3 is enabled.

  Then, the back door 5, which has been lowered to the door position 62e in the preliminary operation range 72a, holds the kinetic energy to the front, and the maximum acceleration 78 toward the back door opening 65 by the rolling pad 58. It is pushed by high initial acceleration. By such acceleration control, the back door 5 is moved at high speed from the door position 62e to the fully closed door position 62f as shown by the arrow 77.

  Meanwhile, the strain in the vicinity of the hinge portion 73 reaches the maximum strain 75 at the same time as it changes from tensile strain to compressive strain. If the maximum strain 75 is excessive due to deterioration of the back door 5 or parts of the mounting portion thereof or temperature change of the operating characteristics of the air cylinder for opening and closing, it becomes an excessively severe endurance test and becomes a test accuracy. Getting worse.

  Therefore, acceleration correction control for properly managing such maximum distortion 75 will be described.

  As shown in FIG. 7, the change in strain amount in the snap movement range 72b substantially corresponds to the change in acceleration of the back door 5, and in particular, the maximum strain 75 occurs corresponding to the maximum acceleration 78. It is known that the maximum strain 75 is in proportion to the maximum acceleration 78 according to a survey result (not shown).

  From this, in the acceleration correction control, the maximum distortion 75 is managed based on the maximum acceleration 78. That is, the maximum acceleration 78 is detected and fed back to the input load to the opening / closing operation attachment 3, and the maximum acceleration 78 is corrected to be limited within a predetermined range.

  Specifically, the maximum acceleration 78 at each closing operation is sampled, and the average value of the remaining data obtained by removing the maximum value and the minimum value from the sampling data within a predetermined number of times is defined as the average acceleration 79. Give feedback to the input load based on it.

  In this embodiment, as shown in FIG. 8, the range of 10 times such as the 1st to 10th sampling, the 2nd to 11th sampling, the 3rd to 12th sampling, ..., the 101st to 110th sampling, etc. The average acceleration 79 is obtained by shifting 10 times as one sampling unit, and averaging the remaining eight data obtained by removing the maximum value and the minimum value from the data.

  As a result, the fluctuation of the maximum acceleration 78 can be grasped as a gradual behavior, and the feedback to the input load is also gradual, so that the deterioration of the test accuracy due to the rapid input load fluctuation can be prevented.

  A control procedure of acceleration correction control based on such average acceleration 79 will be described below.

  As shown in FIGS. 1, 8 and 9, when the power switch (not shown) is turned on and the operation mode is set to the automatic operation mode, the acceleration signal from the acceleration sensor 67, and the left and right strain gauges 69L and 69R. The distortion signal from is read into the main controller 10, and the automatic operation is started (step S1).

  If the average number of acceleration corrections, which is the number of sampling units for obtaining the average acceleration, exceeds a predetermined number of endurances (step S2: YES), acceleration correction control is started (step S3).

  In the acceleration correction control, if the acceleration fluctuation range of the average acceleration 79 from the reference acceleration 80 is within the effective range (step S4: YES), the average acceleration 79 is the acceleration feedback upper limit 81U and the acceleration feedback lower limit in FIG. If it is in the area 83 between 81 L and 81 L, the acceleration fluctuation range is calculated again.

  Then, if the acceleration fluctuation range is not within the effective range (step S4: NO), it is not in the area 83 in FIG. 8 and the acceleration fluctuation range is not within the abnormal range (step S5: NO). Then, if the average acceleration 79 is not within the region 84 between the upper acceleration limit 82U and the lower acceleration limit 82L, it is determined that the acceleration is abnormal (step S9), and the robot cycle which is a durability test using the robot body 7 is stopped. (Step S11).

  If the acceleration fluctuation range is within the abnormal range (step S5: YES), in FIG. 8, if the average acceleration 79 is within the upper and lower areas 85U and 85L, a value obtained by integrating the positive and negative correction factors with the predetermined correction basic value. The current acceleration for calculating the input load to be fed back is instructed based on (step S6).

  If the correction fluctuation range of the correction factor from the correction basic value is not within the effective range (step S7: NO), it is determined that the acceleration correction is abnormal (step S10), and the endurance test using the robot body 7 is performed. The robot cycle is stopped (step S11).

  If the correction fluctuation range is within the effective range (step S7: YES), after the acceleration instruction content at the next robot cycle is validated (step S8), the process returns to step S4 and acceleration correction control is started again. .

  By the control as described above, the average acceleration 79 of the maximum acceleration 78 of the back door 5 is the area 85U between the acceleration upper limit 82U and the acceleration feedback upper limit 81U, or the acceleration lower limit 82L and the acceleration feedback lower limit 81L. When the area 85L is reached, feedback is made to the input load so as to limit the correction basic value to a predetermined correction factor effective range from the next time.

  That is, the drive control device 4 enables a snap operation with the acceleration of the back door 5 which is the open / close body increased from the door position 62c immediately before the door position 62f which is the closed position to the door position 62f. Since acceleration control is performed, acceleration correction control is performed in parallel to detect the acceleration and feed it back to the input load to the opening / closing operation attachment 3 and correct the acceleration to be limited within a predetermined range. By the acceleration control, an operation close to the closing operation of the back door 5 by the driver can be reproduced, and the test accuracy can be further improved. Furthermore, at the time of this snap operation, deterioration of parts of the back door 5 or its mounting portion, temperature change of the operating characteristic of the open / close air cylinder, etc. Excessive impact force acting on the opening 65 can be reliably prevented, and test accuracy can be further improved.

  Furthermore, in the acceleration control, the opening / closing operation attachment 3 is rotated about the horizontal axis 11e which is a single axis, and the pressing member 55 which is the pressing member attached to the opening / closing operation attachment 3 As a result, a snap operation range 72b is provided, which is a one-axis drive range for urging the back door 5 as the opening and closing member toward the back door opening 65 as the vehicle opening. 11c · 11d · 11e · 11f compared with the case of multi-axis drive in which the back door 5 is pushed toward the back door opening 65 using the opening and closing operation attachment 3 that rotates in a plurality of directions, the push tool 55 is stable Thus, the back door 5 can be pushed toward the back door opening 65 at high speed with high accuracy, and the test speed and the test accuracy can be improved. Furthermore, the power required to drive the shaft can be small, and the running cost can also be reduced.

  Further, locus control of the opening / closing operation attachment 3 will be described.

  As shown in FIGS. 1, 5 and 6, the opening / closing operation attachment 3 is moved in synchronization with the closed trajectory 6 of the back door 5. Further, the opening / closing operation attachment 3 is supported so as to be rotatable back and forth on the horizontal axis 11e of the third arm 16 via the attachment arm 17, so as to move on a locus substantially the same as the locus of the horizontal axis 11e. I have to.

  Such a transverse axis 11e is an axis corresponding to the back door 5 being lowered from the fully open door position 62a through the door position 62b to the door position 62c in the first closing operation area 71. It moves along the first trajectory 91 from the center position 11e1 through the center position 11e2 to the center position 11e3.

  Further, the horizontal axis 11e corresponds to the lowering of the back door 5 from the door position 62c to the fully closed door position 62f through the door position 62d and the door position 62e in the second closing operation area 72. Then, it moves along the second trajectory 92 from the axial center position 11e3 through the axial center position 11e4 to the axial center position 11e5 where the snap operation is performed.

  The trajectories 91 and 92 are all on an arc that can be defined by three points, and the arcs are formed as different arcs.

  That is, the opening / closing operation attachment 3 is synchronized from the door position 62a which is the open position to the door position 62c just before the door position 62f which is the closed position while synchronizing with the closed locus 6 of the back door 5 which is the open / close member. While moving along the corresponding first trajectory 91 and the second trajectory 92 corresponding to the door position 62c to the door position 62f, the first trajectory 91 and the second trajectory 92 are provided on different arcs. Therefore, the first trajectory 91 and the second trajectory 92 can be defined at three points each, and simple drive control can be performed as compared with the case where the trajectory of the opening / closing operation attachment 3 is configured from a single complex curve, Thereby, when the operation of the opening / closing operation attachment 3 is performed by the robot main body 7 which is a robot, the test cost is further reduced due to the reduction of the teaching cost, and the operation speed It can be expanded to be tested and conditions of increased limited.

  According to the present invention, an opening and closing operation attachment is provided with a pressing member for pressing the opening and closing body supported rotatably toward the vehicle opening, and the opening and closing operation attachment is closed when the opening and closing body is closed. All vehicles that have a drive control device that moves along a locus, and repeatedly open and close the opening and closing body from the open position of the vehicle opening to the closed position, thereby inspecting the occurrence of problems of the vehicle accompanying the repeated opening and closing Relates to the endurance test device of

DESCRIPTION OF SYMBOLS 1 Durability test apparatus 2 Vehicle 3 opening-and-closing operation attachment 4 drive control apparatus 5 back door (opening / closing body)
5a Outer surface (surface)
6 closed track 11e horizontal axis (single axis)
55 Push tool (pushing member)
58 Rolling pad (rolling element)
59 Support (support)
62a Door position (open position)
62c Door position (immediately before the closed position)
62f Door position (closed position)
65 back door opening (vehicle opening)
72b Snap operating range (1-axis drive range)
91 first locus 92 second locus

Claims (3)

An opening / closing operation attachment attached with a pressing member for pressing the opening / closing body rotatably supported toward the vehicle opening, and the opening / closing operation attachment along a predetermined closed path at the time of closing operation of the opening / closing body A vehicle durability test apparatus comprising: a drive control device for moving, and repeatedly opening and closing the opening and closing body from the open position of the vehicle opening to the closed position, thereby inspecting occurrence of a defect of the vehicle accompanying the repeated opening and closing. pushing member, the closing member have a rolling structure pushes toward the vehicle opening rolling elements supported on the holding body while rolling the surface of the closing body,
The drive control device performs acceleration control enabling snap operation with increased acceleration of the open / close member from immediately before the closed position to the closed position, and detects the acceleration for the acceleration control and performs the opening / closing operation An endurance test apparatus for a vehicle according to claim 1, further comprising: parallel execution of acceleration correction control that feeds back an input load to the attachment and corrects the acceleration to be limited within a predetermined range . An opening / closing operation attachment attached with a pressing member for pressing the opening / closing body rotatably supported toward the vehicle opening, and the opening / closing operation attachment along a predetermined closed path at the time of closing operation of the opening / closing body A vehicle durability test apparatus comprising: a drive control device for moving, and repeatedly opening and closing the opening and closing body from the open position of the vehicle opening to the closed position, thereby inspecting occurrence of a defect of the vehicle accompanying the repeated opening and closing. The pressing member has a rolling structure in which a rolling element supported by a holding body rolls the surface of the opening and closing body and pushes the opening and closing body toward the vehicle opening.
The drive control device performs acceleration control enabling snap operation with increased acceleration of the opening / closing body from immediately before the closing position to the closing position, and for the acceleration control , the opening / closing operation attachment is a single unit. is rotated about the axis by the pressing member attached to the opening and closing operation attachment, characterized by providing a uniaxial driving range for urging pushing said closing member toward the vehicle opening car Both endurance test equipment. The opening / closing operation attachment is synchronized with the closing trajectory of the opening / closing body, and a first trajectory corresponding to the opening position to a position just before the closing position, and a second trajectory corresponding to a position just before the closing position to the closing position The endurance test device for a vehicle according to claim 1 or 2 , wherein the first track and the second track are provided on different arcs while moving along the line.

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