JPH0736037U - Vehicle driving robot on chassis dynamometer - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain a vehicle driving robot on a chassis dynamometer equipped with a hand capable of adapting to the size of a shift knob and smoothly operating the shift knob. [Structure] A slide pipe in which a supporting pipe 13 is fixed to a supporting member 12 provided on an actuator 7 for operating a shift lever, a hand piece 11a is fixed to the supporting pipe 13, and a hand piece 11b is fixed to an end portion. 14 is the support pipe
Slidingly inserted in 13, the support members 19a, 19b are provided in a protruding manner so as to face each end surface of the hand pieces 11a, 11b. And one end can be inserted into the slide pipe 14,
A plug 16 having a larger diameter than the inner diameter of the slide pipe 35 at the other end is provided in the support pipe 13, and a screw shaft 17 inserted into the slide pipe 14 from the hand piece 11b side is screwed into a screw hole of the plug 16. ing.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot that drives a vehicle when performing a performance test or the like of the vehicle using a chassis dynamometer.

[0002]

[Prior art]

 BACKGROUND ART For the purpose of emission, fuel consumption test, and other purposes in various modes of operation of a completed vehicle, the vehicle is run on a chassis dynamometer in a predetermined drive pattern. Then, this vehicle traveling is performed by a robot in order to save labor and improve the reproducibility of driving. As this vehicle driving robot, for example, one disclosed in Japanese Utility Model Laid-Open No. 5-23099 is known. This robot is provided with an actuator for operating the accelerator, brake, and clutch pedals separately, and also with an actuator for operating the shift lever. A hand for inserting and holding the knob of the shift lever of the mission vehicle is provided at the tip of the actuator for operating the shift lever.

The hand into which the knob of the shift lever is inserted and held is configured as shown in FIGS. In FIGS. 10 to 11, 31 is an actuator for operating a shift lever, and the hand 33 is attached to a connecting member 32 fixed to the tip thereof. The hand 33 has a semi-cylindrical hand piece 35a fixed in a hanging manner to a support pipe 34 protrudingly fixed to the connecting member 32, and an end of a slide pipe 36 slidably inserted in the support pipe 34. A semi-cylindrical hand piece 35b is fixed to the portion in a hanging shape. 37 is a slit slit formed at the other end of the slide pipe 36, 38 is a plug disposed in the support pipe 34, one end of the plug 38 can be inserted into the slide pipe 36, and the other end is a slide pipe. It is formed in a truncated cone shape that is larger than the inner diameter of 36.

Reference numeral 39 denotes a screw shaft which is inserted into the slide pipe 36 from the hand piece 35 b side and screwed into a threaded hole of the plug body 38. The rotation of the screw shaft 39 causes the plug body 38 to be inserted into the slide pipe 36. Then, the slide pipe 36 is pressed against the inner surface of the support pipe 34, the slide pipe 36 is fixed, and the distance between the hand pieces 35a and 35b is set. When the plug 38 moves in the direction of coming out of the slide pipe 36, the slide pipe 36 becomes slidable with respect to the support pipe 34, and the distance between the hand pieces 35a and 35b can be changed. Reference numeral 40 is a gap formed between the end surfaces of the hand pieces 35a and 35b, 41 is a shift lever of a mission vehicle, and a knob 42 is provided at the tip thereof. 39a is a handle of the screw shaft 39.

As described above, the hand 33 adjusts the interval between the hand pieces 35a and 35b by rotating the screw shaft 39 in accordance with the size of the knob 42 to be inserted, and is inserted. The width of the gap 40 changes according to the size of the knob 42. To operate the shift lever 41 by the hand 33, the knob 42 is inserted between the hand pieces 35a and 35b as shown by the chain line in FIG. For example, when shifting the shift lever 41 from the first speed to the second speed, the actuator 31 moves the hand 33 in that direction. When the shift lever 41 is moved in the vehicle width direction at the neutral position, the entire actuator 31 is moved in the same direction to move the hand 33.

[0006]

[Problems to be solved by the device]

 In the conventional hand 33, since the interval between the hand pieces 35a and 35b can be adjusted, the knobs 42 having different sizes can also be inserted into the hand 33. However, a fairly large void 40 is formed in the entire space between the end faces of the hand pieces 35a, 35b formed in a semi-cylindrical shape. For example, when the shift lever 41 is moved in the width direction of the vehicle with the hand 33 at the neutral position of the 5-speed transmission vehicle, the shift lever 41 tilts in the moving direction. Therefore, in accordance with the shape and size of the knob 42, as shown by the chain line in FIG. When the knob 42 is covered with a cover made of flexible plastic or the like, the knob 42 is easily fitted into the gap 40 due to the elastic deformation of the cover.

As described above, when the actuator 31 moves the hand 33 in which the lower portion of the knob 42 is fitted into the space 40, for example, in the direction of the first speed, the hand pieces 35a and 35b are moved to each other. It moves in a straight line in the horizontal direction while maintaining the parallel state. On the other hand, since the shift lever 41 pivots in the direction of the first speed with the lower side as a fulcrum and tilts, the knob 42 moves in a circular motion. Therefore, in order for the hand 33 to move the knob 42 with the knob 42 still fitted in the gap 40, the portion of the knob 42 fitted in the gap 40 must rotate in the gap 40 as the hand 33 moves. is necessary.

However, since the knob 42 of the mission vehicle is generally formed to have a shape in which the length in the up-down direction is longer than the diameter, as described above, a part of the knob 42 in the void 40 is formed. Is unable to rotate, and the knob 42 is caught between the end faces of the hand pieces 35a, 35b. In this way, when the knob 42 is hooked on the end surfaces of the hand pieces 35a, 35b, the shift lever 41 resists the movement of the hand 33 by the actuator 31. When the actuator 31 pushes the knob 42 harder against the resistance of the shift lever 41 via the hand pieces 35a, 35b, the knob 42 moves from the gap 40 to the inside of the hand pieces 35a, 35b, and the knob 42 moves. The shift lever 41 is shifted to the first speed by rotating along the inner surfaces of the hand pieces 35a and 35b. In addition, since the force acting on the actuator 31 is larger than the force normally acting, there is a problem that the load on the drive unit of the actuator 31 becomes larger than necessary. Since the force acting on the transmission becomes larger than necessary, there is also a problem that adversely affects the transmission.

Further, the actuator 31 needs to learn each shift position of the shift lever 41 of the mission vehicle by the actuator 31. For example, when the actuator 31 pushes the shift lever 41 via the knob 42 to move it to a predetermined shift position, the shift lever 41 becomes immovable and the force acting on the actuator 31 increases. Therefore, a detector for detecting the force acting on the actuator 31 is provided, and when this detector detects a force equal to or more than the preset force F, the position is learned as the shift position. ing.

As described above, when the value of the force acting on the actuator 31 is detected and each shift position of the shift lever 41 is being learned, as described above, the distance between the end surfaces of the hand pieces 35a, 35b is increased. , The shift lever 41 becomes a resistance against the movement of the hand 33, the resistance value is detected by the detector, and the detected value is the force set in advance. If it becomes larger than F, the robot may erroneously learn that position as a shift position. That is, the robot may erroneously learn a position other than the predetermined shift position as the shift position. In this way, if the mode is run at the wrong shift position, for example, the gear may not be fully engaged when shifting to the 1st speed, which may cause a shift error or gear squeal during running, which may hurt the transmission. Become. In addition, there is a problem that the certainty of traveling is impaired due to the occurrence of a shift error.

The present invention is to solve the above problems, and provides a hand in which the distance between a pair of hand pieces can be adjusted and the shift knob is not likely to fit between the hand pieces. An object of the present invention is to obtain a vehicle driving robot on a chassis dynamometer equipped with an actuator.

[0012]

[Means for Solving the Problems]

 The robot for driving a vehicle on the chassis dynamometer of the present invention is a robot for driving a vehicle on a chassis dynamometer provided with an actuator for operating a shift lever of the vehicle. The knob of the shift lever is inserted into the actuator for the shift lever. The hand to be held is constituted by arranging a pair of independent hand pieces in the same direction as the shift lever's shift direction, and an interval adjusting means for sliding one or both of the hand pieces to adjust the interval. The supporting members, which are provided and overlap each other in the direction intersecting the sliding direction of the hand pieces and whose overlapping length changes by the sliding of the hand pieces, are projected in the direction opposite to the opposite end faces of both hand pieces. It is characterized by

It is also possible to project the support member on the end surface of one hand piece and stack the support material on the other hand piece.

[0014]

[Action]

 As described above, the hand of the robot for driving a vehicle on the chassis dynamometer of the present invention is composed of a pair of hand pieces facing each other. Since the hand pieces are overlapped with each other, the end faces of the pair of hand pieces facing each other are also connected to each other by a supporting member, so that the entire hand is formed into a tubular shape. Then, when the distance between the pair of hand pieces is changed, the overlapping length of each support member changes corresponding to the sliding direction of the hand piece, and the support member is connected to the pair of hand pieces. maintain.

This robot is mounted and fixed on, for example, a driver's seat of an automobile on the chassis dynamometer, and the pair of hand pieces described above is used in correspondence with the size and shape of the knob of the shift lever of the automobile. Adjust the spacing with the adjusting means. The knob is inserted between a pair of hand pieces whose spacing is adjusted, and the shift lever is held by a hand. When the actuator is used to swing the shift lever in the front-back direction of the vehicle, one of the pair of hand pieces pushes the knob to swing the shift lever according to the direction of movement.

When the shift lever is swung in the width direction of the vehicle at the neutral position, the knob is pushed by each of the support members protruding from the pair of hand pieces to swing the shift lever. The support member prevents a part of the knob from being caught between the hand pieces. In this way, when the knob is pushed on the supporting member of the hand to swing the shift lever to a predetermined position, the hand then moves in the front-rear direction of the vehicle and swings the shift lever in the same direction. At this time, since the knob is in contact with the inner surface of the support member, the hand does not interfere with the movement of the hand in the front-back direction of the vehicle, such as the knob catching on a part of the hand. The shift lever is swung into a state in which it moves smoothly and the knob is rotated inside thereof.

[0017]

First Embodiment A first embodiment of a vehicle driving robot on a chassis dynamometer according to the present invention will be described with reference to FIGS. In FIGS. 1 to 5, reference numeral 1 denotes a robot body, and a supporting rod 3 is attached to the ends of attachment bars 2a and 2b that are fixed to both upper end portions of the robot body and project toward the front of the robot body 1. A support groove 4 having a convex cross section is formed over the entire length of the support rod 3. Reference numeral 5 is an actuator for depressing and operating the accelerator, brake, and clutch pedals of an automobile. A connecting portion (not shown) of a supporting member 6 provided at the end of the actuator is slidably mounted in the supporting groove 4, and The support member 6 is fixed at a required position in the support groove 4, and each actuator 5 is fixed at a position suitable for the depression of each pedal. Reference numeral 7 denotes an actuator for a shift lever, which is slidably mounted on a rail 8 provided on the robot body 1. Reference numeral 9 denotes a hand provided at the tip of the actuator 7, which holds and operates the shift lever. Reference numeral 10 is a robot configured as described above.

As shown in FIGS. 3 to 5, the hand 9 is configured such that a pair of handpieces 11a and 11b each having a concave cross section face each other. 12 is a support member connected to the tip of the actuator 7, 13 is a support pipe fixed to the support member 12 with the axis of the actuator 7 parallel to the axis, and the end of the hand piece 11a is attached to the support pipe 13. It is fixed in a drooping manner. Reference numeral 14 is a slide pipe slidably inserted into the support pipe 13, and a hand piece 11b is fixed to the end portion of the slide pipe in a hanging shape, and a slit slit 15 is provided at the other end of the slide pipe 14 in the axial direction so as to face each other. There is.

Reference numeral 16 is a plug body slidably arranged in the support pipe 13. One end side of the plug body 16 can be inserted into the slide pipe 14, and the other end side is a cone larger than the inner diameter of the slide pipe 14. It has a trapezoidal shape. Reference numeral 17 denotes a screw shaft that is inserted into the slide pipe 14 from the hand piece 11b side and screwed into a threaded hole (not shown) through which the plug 16 penetrates. Rotation of this screw shaft 17 causes the plug 16 to slide on the slide pipe 14 Move in or out. When the plug 16 moves in the direction of insertion into the slide pipe 14, the slide pipe 14 is pressed against the inner peripheral surface of the support pipe 13 to fix the slide pipe 14, and the hand pieces 11a and 11b maintain the set distance. To do. When the plug body 16 moves in the direction of coming out of the slide pipe 14, the hand piece 11b can slide along with the slide pipe 14 with respect to the support pipe 13, and the distance between the hand pieces 11a and 11b can be changed. 18 is a handle fixed to the end of the screw shaft 17, and 19a and 19b are bearing members that are alternately projected at different positions on the opposite end faces of the hand pieces 11a and 11b and overlap each other in a meshed manner. The supporting members 19a and 19b connect the respective end surfaces of the hand pieces 11a and 11b to each other to form the entire hand 9 into a tubular shape. Then, the lengths of the overlapping portions of the support members 19a and 19b change corresponding to the distance between the hand pieces 11a and 11b.

Reference numeral 20 denotes a driver's seat of an automobile, on which a supporting base 21 is placed from the seat 20a to the backrest 20b, and the supporting base 21 is arranged inside the seat 20a by a connecting member (not shown). It is fixed to a frame material (not shown) made of a metal. Then, the robot 10 is placed on the support table 21, and the robot 10 is fixed to the support table 21 by a connecting member (not shown) such as a belt. 22 is a shift lever, and a knob 23 is provided on the upper end thereof.

As described above, the hand 9 of the actuator 7 for operating the shift lever 22 is composed of the pair of hand pieces 11a, 11b and the supporting members 19a, 19b projectingly engaged with the hand pieces 11a, 11b. It is configured in a shape. The holding of the knob 23 by the hand 9 makes the distance between the hand pieces 11a and 11b correspond to the size of the knob 23 by rotating the screw shaft 17 by the handle 18, as described above. The movement of the hand piece 11b also moves the support member 19b, and the mutual positional relationship of the support members 19a and 19b changes. However, since the support members 19a and 19b are in the same meshed state, the hand 9 has a cylindrical shape. Maintain the state of.

Since the knob 23 is inserted into the cylindrical hand 9, when the shift lever 22 is swung in the width direction of the vehicle by the movement of the hand 9 by the actuator 7, the knob 23 opposite to the moving direction is used. The support members 19a and 19b push the side surface of the support. When swinging the shift lever 22 in the front-rear direction of the automobile, one of the hand pieces 11a, 11b pushes the side surface of the knob 23. That is, the entire circumference of the knob 23 of the shift lever 22 is always positioned inside the inner surface of the hand 9 so that a part of the knob 23 is hooked on a part of the hand pieces 11a and 11b. , 19b prevent. Therefore, in response to the movement of the hand 9, it is possible to rotate the knob 23 inside the hand 9 to smoothly swing the shift lever 22 in a desired direction. It is possible to correctly learn each shift position of the shift lever 22.

The shift knob of an automatic vehicle is often formed in a rod shape that is long in the width direction of the vehicle, and it is difficult to insert it into the cylindrical hand 9. Therefore, in the case of an automatic vehicle, the screw shaft 17 is separated from the plug body 16, the slide pipe 14 is pulled out from the support pipe 13, and the hand piece 11b is separated. Then, a slide pipe having a plate-shaped hand piece attached thereto is attached to the support pipe 13, and a rod-shaped shift knob is held and operated.

FIGS. 6 to 7 show a second embodiment and relate to a space adjusting means for a pair of hand pieces. In the second embodiment, a support pipe 25 is fixedly protruded from a support member 12 connected to the tip of an actuator 7 for operating a shift lever, and a slit slit 15a is provided at the tip of the support pipe 25 so as to face each other. The tip side of the support pipe 25 is slidably inserted into the slide pipe 26, and the hand piece 11b having a concave cross section is fixed to the slide pipe 26. 16a is a plug disposed in the slide pipe 26 so that it can be inserted into the tip of the support pipe 25, and 17a is inserted into the support pipe 25 by penetrating the support member 12, and the screw hole through which the plug 16a is inserted. A screw shaft screwed into (not shown), 18a is a handle of the screw shaft 17a.

Reference numeral 11a denotes a hand piece having a concave cross-section which is arranged so as to face the hand piece 11b, and the support pipe 25 is inserted into a mounting hole 27 provided in the hand piece 11a so that the hand piece 11a is supported by the support pipe 25. Is slidably mounted on. 28 is a slit groove communicating with the mounting hole 27 and formed in the hand piece 11a, and 29 is a fixing bolt which penetrates the slit groove 28 and is screwed into the hand piece 11a. 11a is fixed to the support pipe 25, and when the fixing bolt 29 is loosened, the hand piece 11a can slide with respect to the support pipe 25. Then, triangular support members 19a and 19b are provided in a protruding manner on the respective end surfaces of the hand pieces 11a and 11b facing each other so as to be engaged with each other. Reference numeral 9 is a hand composed of the hand pieces 11a and 11b.

The distance adjusting means of the hand pieces 11a, 11b of the second embodiment is configured as described above, and one or both of the hand pieces 11a, 11b is moved to set the distance between them. Is possible. That is, the position of the hand piece 11a with respect to the support pipe 25 can be changed by operating the fixing screw 29, and the stopper pipe 16a can be moved by rotating the screw shaft 17a by the handle 18a. It is possible to change the position of the hand piece 11b by sliding the slide pipe 26 with respect to.

As is apparent from the first and second embodiments, the configuration of the space adjusting means of the hand pieces 11a, 11b is arbitrary, and the supporting members 19a, 19b are also arbitrary in shape, such as a corrugated shape. It is also possible to do so. Although the support members 19a and 19b are provided over almost the entire depth of the hand 9, it is also possible to provide the support members 19a and 19b only on the mouth side of the hand 9.

8 to 9 show a third embodiment, which relates to a support material. In this embodiment, a supporting member 19 is provided so as to project only on the end surface of the hand piece 11a, and the supporting member 19 is formed to have a length overlapping the side portion of the hand piece 11b. The other structure is the same as that of the first embodiment, and therefore the same reference numerals are used. The hand 9 adjusts the distance between the hand pieces 11a and 11b by moving the hand piece 11b. Therefore, the length of each support member 19 overlapping the hand piece 11b changes in accordance with the moving direction of the hand piece 11b and its distance. Even if the tip of the support member 19 separates from the end of the hand piece 11b and a gap is created between the end surface of the hand piece 11b and the tip of the support member 19, the gap is small and is offset toward the hand piece 11b. Therefore, there is no risk of the shift lever knob getting caught in this space, and the shift lever can be smoothly swung in any direction.

It is also possible to project the support member on the end surface of the hand piece 11b so that the support materials of the hand pieces 11a and 11b are overlapped in the inner and outer directions of the hand 9. In this case, the protruding length of each supporting member of the hand pieces 11a and 11b is the same as that in the first embodiment.

[0030]

[Effect of device]

 In the vehicle driving robot on the chassis dynamometer of the present invention, the hand into which the knob of the shift lever is inserted is provided with the supporting member projecting on each end surface of the pair of hand pieces facing each other as described above. This pair of bearing members facing each other is formed into a tubular shape by stacking them on top of each other, or the supporting material is projected from one of the pair of hand pieces, and the supporting material is placed on the other hand piece to form a tubular hand. is doing. Then, even if the spacing between the hand pieces is adjusted by sliding one or both of the pair of hand pieces, the overlapping lengths of the opposing supporting members or the overlapping lengths of the supporting members with respect to the hand piece are changed. It is possible to keep the tube shape. Therefore, it is possible to insert and hold the shift knob of a mission vehicle of almost any size in the hand.

Moreover, since the hand is formed into a cylindrical shape, when the shift knob inserted into the hand is moved by the actuator, a part of the shift knob may be caught on a part of the hand. Instead, the entire circumference of the shift knob is always inside the hand. Therefore, the knob always turns along the inner surface of the hand according to the moving direction of the shift lever, so that the shift lever can be smoothly moved and shifted, and the actuator drive It is possible to solve the problem that the load on the parts becomes unnecessarily large. Further, it is possible to smoothly and accurately learn each shift position of the shift lever of the mission vehicle by the actuator.

[Brief description of drawings]

FIG. 1 is a front view of a first embodiment of the present invention.

FIG. 2 is a plan view of the first embodiment.

FIG. 3 is an enlarged cross-sectional view of a main part of the first embodiment.

FIG. 4 is an enlarged bottom view of a main part of the first embodiment.

FIG. 5 is an enlarged side view in which a part of an essential part of the first embodiment is sectioned.

FIG. 6 is a front view in which a part of the second embodiment is sectioned.

FIG. 7 is a side view of the second embodiment.

FIG. 8 is a sectional front view of the third embodiment.

FIG. 9 is a side view of the third embodiment.

FIG. 10 is a sectional front view of a conventional example.

FIG. 11 is a side view of a conventional example.

[Explanation of symbols]

7: actuator, 9: hand, 11a, 11b: hand piece,
13: Support pipe, 14: Slide pipe, 16: Stopper, 17:
Screw shafts, 19a, 19b: Support materials.

Claims (2)

[Scope of utility model registration request] 1. In a vehicle driving robot on a chassis dynamometer provided with an actuator for operating a shift lever of an automobile, a hand for holding a shift lever knob inserted into the shift lever actuator is independent of each other. A pair of hand pieces are arranged in the same direction as the shift direction of the shift lever, and a space adjusting means is provided for adjusting one or both of the hand pieces so that the distance between them can be adjusted. Vehicles on a chassis dynamometer, characterized in that support members that overlap each other in the direction in which the hand pieces slide, and the lengths of which overlap with each other change when the hand pieces slide, project in opposite directions on opposite end surfaces of both hand pieces. Driving robot. 2. A robot for driving a vehicle on a chassis dynamometer according to claim 1, wherein a supporting member is provided so as to project from an end surface of one hand piece, and the supporting material overlaps the other hand piece. .