JPH10246688A - Testing device for manual speed changer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately evaluate a shift feeling by directly performing the shift operation of the control shaft of a manual speed changer without going through an intermediate medium such as a wire, at the same time positively gripping the above control shaft by a robot, and achieving a shift operation following an engagement resistance in the synchronization device of the speed changer. SOLUTION: The tip of a control shaft 18 is gripped by a hand 20 via a tool 21 and the hand 20 is shifted by a shift drive device that is a robot, thus facilitating the above gripping and operation. Also, an elastic means is provided at the hand 20 and the shift operation of the shift drive device is transferred to the control shaft 18 via an elastic means, thus changing the operation of the control shaft 18 according to the engagement resistance of the synchronization device and achieving an operation close to an actual shift operation by a person.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a test device for a manual transmission.

[0002]

2. Description of the Related Art Conventionally, as an automatic shift mechanism in a test apparatus for a manual transmission, a shift cable or a link mechanism equivalent to an actual vehicle is connected to a shift control section of the manual transmission, and a shift knob is connected to an NC actuator (control device) such as a robot. It is operated by. As a test apparatus for a manual transmission having such a configuration, for example, Japanese Patent Application Laid-Open No.
No. 4-6737. In this device, the shift rod and the select rod controlled by the device main body drive the shift lever operation arm, and at the same time, the grip grips the upper end knob of the shift lever, and the shift lever operation arm keeps the shift river constant. The shift feeling of the manual transmission is automatically determined by operating with a stable force.

[0003]

However, the automatic shift device for automatically determining the shift feeling is affected by bending, transmission loss, hysteresis, etc. of the intermediate medium such as a cable, a link, and a shift knob connected to the shift control unit. It is difficult to accurately evaluate the manual transmission body.
In addition, since the connection points vary due to the bending of the intermediate medium and the accumulation of the play, the operation rate of the test apparatus is reduced due to a connection error or measurement instability. Further, the cable,
When an intermediate medium such as a link or a shift knob is replaced due to breakage or the like, there is a problem that the reproducibility of the medium before replacement is lost due to the inherent characteristics of the intermediate medium.

Further, as shown by a solid line in FIG. 12 (a), for example, a temporal change of a shift stroke in an actual shift operation occurs during a shift operation period from X to Y.
The change is not proportional to the time due to the balk caused by the synchronization of the synchronizer (synchronous mechanism), the engagement resistance of the clutch gear, and the like. In addition, since the change in the shift stroke differs depending on the work and the operating conditions, the operation of the shift actuator requires a shift trajectory that follows the change in the work.

However, in the automatic shift mechanism by the NC control, the shift stroke control is linear as shown by a broken line in FIG. 12A, and even if an arbitrary stroke control is performed by a program, the actual shift operation is performed. Control that follows a change in the work such as a shift stroke in (manual operation) is impossible. Further, since the stroke ends vary depending on the assembly accuracy of the work, a structure is required that absorbs variations to avoid overload at the stroke ends and prevents damage to the transmission.

In order to eliminate the above-mentioned problem caused by the presence of the intermediate medium, when the tip of the control shaft is directly gripped and operated by a robot or the like without using the intermediate medium, the following two problems occur. First, since there is no intermediate medium, the problem of the shift stroke described above is rather large. Furthermore, since the control shaft tip or a lever fixed to the tip is a structure that is supposed to be connected to a mating part when the vehicle is actually mounted,
It is difficult to accurately grasp and operate the robot,
The shaft tip may be damaged or the shift may be erroneously operated. Accordingly, the present invention has as its main object to control and operate the control shaft of the manual transmission without the intermediate medium, and aims at solving the above-mentioned problems associated therewith.

[0007]

In order to achieve the above object, according to the first aspect of the present invention, a shift operation is performed on a control shaft in an axial direction and a rotational direction to selectively switch a plurality of transmission mechanisms to perform a shift. A device for switching and testing the transmission mechanism in a manual transmission, comprising: a hand connected to a tip of the control shaft; and an advance / retreat drive device for approaching the tip of the control shaft to connect the hand. A shift driving device that shifts the hand connected to the control shaft tip in the axial direction and the rotation direction of the control shaft, respectively, and a connection jig is provided between the control shaft tip and the hand. Detachably provided, with the control shaft tip through the connection jig By the serial hand are connected, the mutual positional deviation at the time of connection between the control shaft is characterized in being absorbed.

In the test apparatus, the shift drive device is moved by the forward / backward drive device, and the hand provided on the shift drive device is connected to a connecting jig mounted on the tip of the control shaft of the manual transmission. And the shift driving device. The control shaft and the hand are connected via a connecting jig, so that mutual positional deviation at the time of connection between the two is absorbed. The shift drive device performs a shift test by operating the control shaft in the axial and rotational directions via the hand and the connecting jig to selectively switch the plurality of shift mechanisms.

Therefore, it is necessary that the connecting jig has a structure that can be easily attached to the tip of the control shaft and has a shape that can be easily gripped by a hand. This connecting jig may be manually attached to the tip of the control shaft. According to the second aspect of the present invention, an apparatus for switching and testing a transmission mechanism in a manual transmission that performs a shift by selectively switching a plurality of transmission mechanisms by shifting a control shaft in an axial direction and a rotation direction. And a hand connected to a tip of the control shaft, an arm supporting the hand, and a shift driving device that shifts the hand via the arm, and
The hand is provided with elastic means having a restoring force, and a shift operation by the shift driving device is transmitted to the control shaft via the elastic means.

The elastic means includes a damper device composed of a fluid cylinder, various springs and the like. The hand is
By transmitting the shift operation from the shift driving device to the control shaft via the elastic means, even if the shift driving device simply operates at a constant speed, the operation speed changes according to the operating resistance of the control shaft. The operation of the control shaft can be replaced with an operation that is close to an actual shift operation by a human. In addition, this makes it possible to flexibly cope with variations in the shape and position of the work. Further, if the hand is provided with a measuring means such as a pressure sensor for measuring the operating resistance, the hand does not pass through the above-described intermediate medium, so that the shift feeling of the transmission can be accurately evaluated. .

According to the third aspect of the present invention, the hand comprises a control shaft side hand portion and an arm side hand portion which are rotatable relative to each other, and the elastic means is provided on one hand portion and provided on the other hand portion. On the other hand, it is characterized by being constituted by a pair of fluid cylinders provided so as to exert mutually opposite rotational forces.

In the hand, a pair of fluid cylinders apply rotational forces in opposite directions to the control shaft side hand portion and the arm side hand portion. The fluid cylinder elastically absorbs the relative rotational force between the arm-side hand portion and the shaft-side hand portion by the action of the air cylinder. Thus, the rotation operation at a constant speed by the shift driving device is replaced with an operation in which the speed changes according to the operating resistance of the control shaft, and the operation is transmitted to the control shaft.

According to a fourth aspect of the present invention, there is provided a switching means for switching between operation and non-operation of the fluid cylinder, and the control shaft is moved in a direction in which the synchronizing device of the transmission mechanism separates when the fluid cylinder is not operated by the switching means. And a biasing means for biasing. The elastic members that apply the rotational forces in the opposite directions to the hand portion on the control shaft side and the hand portion on the arm side are deactivated, and the control shaft is driven by the urging means in the direction away from the synchronization device of the transmission mechanism. . Thus, the separation (gear loss) of the synchronization device of the transmission mechanism of the transmission is determined.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below by way of examples. (Embodiment 1) FIG. 1 is a front view showing a schematic configuration of a test apparatus for a manual transmission according to the present invention. In FIG. 1, a test device 1 for a manual transmission includes a test device main body 2 and an NC control device 3.
It is composed of The test apparatus main body 2 includes a frame 4, a conveyor 5 that is provided to extend horizontally through the frame 4, and conveys a manual transmission (hereinafter, simply referred to as a “transmission”) 17 to be tested, and a pallet disposed above the conveyor 5. 1
6 is a shift drive device for operating a control shaft 18 of a transmission 17 mounted on the vehicle 6, for example, an articulated robot 6, which is movably suspended on the frame 4, and moves the robot 6 to a predetermined position of the transmission 17 on the conveyor 5. A reciprocating drive device 8 for approaching, an input shaft motor 9 arranged on one side of the conveyor 5 and connected to an input shaft of a transmission 17, and output shafts 10 and 10 'connected to both sides of an output shaft of the transmission 17; A pulley 12 connecting the output shafts 10 and 10 ′ to a rotating shaft 11,
12 ', an output shaft motor 13 for driving the rotating shaft 11, and the like. The input shaft motor 9 functions as a vehicle engine, and the output shaft motor 13 functions as driving wheels of the vehicle. Incidentally, the input shaft motor 9 has a built-in clutch.

The control device 3 controls the conveyor 5, the robot 6, the forward / backward drive device 8, the input shaft motor 9, the output shaft motor 13 and the like in accordance with a predetermined control program, and
The test is performed by shifting and selecting the control lever 18 of FIG. At the tip of the arm 7 of the robot 6,
The hand 20 is attached, and the hand 20 is connected to a connecting jig 21.
Through the control shaft 18 of the transmission 17.

The conveyor 5 travels in the direction perpendicular to the plane of the paper of FIG. 1, and the transmission 17 is assembled on a line on the near side, and then transported to the test apparatus 1. Shift lever 19 provided at the tip of control shaft 18 (described later)
Usually, when the assembly is completed, the control shaft 18
A lever for turning (shifting) about the center of the axis and a lever for sliding (selecting) in the axial direction are provided. However, at the stage of being conveyed to the test apparatus 1, the sliding lever is not assembled and turned. Only the shift lever 19 is assembled, and the slide lever is assembled when the test apparatus 1 is exited. The connecting jig 21 is manually attached to the shift lever 19 by an operator before being conveyed to the test apparatus 1.

FIG. 2 shows a schematic configuration of the hand 20. In FIG. 2, the hand 20 includes a hand unit 25 fixed to the arm 7 side of the robot 6,
Alternatively, a hand unit 26 supported to be relatively rotatable in the CC ′ direction to have a duplex structure and connected to the control shaft 18 side of the transmission 17, a hand unit 25 and a hand unit 26
And a pair of fluid cylinders as elastic means provided to apply a restoring force to the hand unit 26, i.e., to apply rotational forces in opposite directions to the hand unit 26, for example, an air cylinder 27, 28 and hand unit 25
A fluid cylinder, such as an air cylinder 29, is provided between the air cylinder 29 and the hand unit 26 and rotates the hand unit 26 in the direction of arrow C or CC '.

Control shaft 18 side (work side)
The hand unit 26 can have a phase difference (relative rotation angle) with the hand unit 25 by the balance between the resistance to the robot side hand unit 25 and the pressing force (elastic force) of the air cylinders 27 and 28. The mutual positional deviation between the robot 6 side and the control shaft 18 side can be absorbed. The air cylinder 29 urges the control shaft 18 in a direction in which a synchronizing device in a transmission mechanism (not shown) of the transmission 17 separates (gear is removed). The air cylinders 27 and 28 are connected to the switching means 31.
, And the air cylinder 29 is controlled by the switching means 35.

FIG. 3 shows the connecting jig 21. The connecting jig 21 is connected to the shift lever 19 of the control shaft 18.
It is detachably attached to the upper part of the frame.
1a, the side 21b, and the bottom 21c are integrally formed, and the side 21d can be opened and closed as shown by the arrow. Upper 21
In a, a support shaft 21e is suspended from substantially the center, and the head 21f has a large diameter. At the front end of the upper portion 21a, a locking portion 21g is formed so as to protrude horizontally, and the locking portion 21g is provided with a slit 21h opening forward.

At the center of the bottom portion 21c, there is provided a notch 21i which opens to the side portion 21d. This notch 21
The control shaft 18 can enter and exit i with a slight gap. On the free end side of the side portion 21d, a fixing nut 22 for fixing to the bottom portion 21b when closed is provided so as to be allowed to fall slightly in a state where slight play is allowed. A fixing nut 22 is provided in a bolt hole 21k of the bottom 21b.
The bolt 23 is screwed into and provided. Further, a plate 24 is provided below the side portion 21b.

The connecting jig 21 is connected to the side 2 as shown in the figure.
With the 1d opened, the control shaft 18 is inserted into the notch 21i of the bottom 21c from the side as shown by the dashed line.
The shift lever 19 is taken inside. Shift lever 19
Are stored such that the engagement pin 19a is located below the slit 21h of the locking portion 21g. And the side 21d
Is closed and the bolt 23 is screwed into the fixing nut 22 so that the bottom 2
The side part 21d is fixed to 1c. In this state, one side surface 19b of the shift lever 19 contacts the plate 24, the other side surface 19c contacts the inner surface of the side portion 21d, and the support shaft 21e
And the center of the control shaft 18 coincide with each other. Thereby, the shift lever 19 can be rotated integrally with the connecting jig 21. The plate 24 is for positioning the connection jig 21 and the control shaft 18 at a relative angle. Control shaft 1
In the direction 8, arrows A and A '(axial direction) are select directions, and arrows B and B' (rotational directions) are shift directions. When the shift lever 19 is rotated in the direction of arrow B with respect to the neutral position N, the control shaft 18
5 and can be shifted to gears 2, 4, 6 and R when rotated in the direction of arrow B '.

FIGS. 4 to 8 show a detailed configuration of the hand 20. FIG. 4 is a front view of the hand 20, FIG. 5 is a sectional view taken along the line VV of FIG. 4, FIG. 6 is a bottom view of FIG.
Shows a rear view of FIG. As shown in FIG. 5, the hand portion 25 of the hand 20 has a shaft hole 40a which is opened concentrically at the center of a support shaft 40 having a disk shape, and a bracket 41 (FIGS. ) Is fixed.
The rotating shaft 50 of the hand part 26 is rotatably supported by the shaft hole 40 a via a bearing 42 so as to be relatively rotatable. The bearing 42 has an outer ring fixed to the support shaft 40, an inner ring fixed to the rotary shaft 50, and supports the rotary shaft 50 with respect to the support shaft 40 so that it cannot move in the axial direction and cannot deviate. As a result, the hand portions 25 and 26 are relatively rotatable, that is, have a dual structure.

A plurality of, for example, four columns 51 are fixed to the lower part of the rotating shaft 50 at substantially equal intervals in the circumferential direction, for example, in the front, rear, left and right directions. Each support column 51 extends upward to the upper surface of the support shaft 40 with a slight gap outside the support shaft 40, and a ring gear 52 is horizontally mounted and fixed at the upper end. The ring gear 52 has an inner diameter slightly larger than the outer diameter of the support shaft 40 and is arranged concentrically outside the support shaft 40 with a slight gap, and is rotatable integrally with the rotary shaft 50. It is said. The ring gear 52 is for detecting the rotation angle (rotation amount) of the hand unit 26 with respect to the hand unit 25, and as shown in FIG.
Connected through. This potentiometer 75
Is fixed to the arm 7 of the robot 6.

As shown in FIG. 4, a support plate 53 is fixed to the lower end of the rotating shaft 50. On one side of the supporting plate 53, an arm 54 whose lower end extends obliquely downward toward the lower side of the rotating shaft 50. Has been fixed. At the lower end of the arm 54, the head 21f of the support shaft 21e of the connecting jig 21 shown in FIG.
Is provided with a hole 54a that fits into the hole 54a. The center of the hole 54 is located on an extension of the center line of the rotating shaft 50 (FIG. 5). Thus, when the head 21f of the support shaft 21e of the connecting jig 21 is attached to the hole 54a of the arm 54, the center of the rotation shaft 50 of the hand unit 26 and the center of the support shaft 21e (the center of the control shaft 18) are aligned. Matches.

As shown in FIG. 5, a bracket 55 is suspended and fixed at the center of the back side of the support plate 53, and an engagement pin 56 is provided at the lower end thereof. This engagement pin 56
When the head 21f of the support shaft 21e of the connecting jig 21 is attached to the lower end of the bracket arm 54, the locking portion 21g
With the slit 21h. The locking pin 56 rotates the connecting jig 21 with the rotation of the support plate 53. Thereby, the rotation operation of the control shaft 18, that is, the shift operation is performed.

As shown in FIGS. 4 and 5, a slider 60 is mounted at the lower center of the support plate 53 so as to be slidable in the horizontal direction. The slider 60 is connected via a bracket 58 (FIG. 6) to the tip of a rod 57a of an air cylinder 57 provided horizontally on the support plate 53, and is controlled by the cylinder 57. The upper end of an inverted L-shaped bracket 61 is fixed to the lower surface of the slider 60,
At the lower end of the bracket 61, a bracket 62 is horizontally supported so as to face the lower end of the arm 54.
2 at a position slightly below the arm 54, and a hole 54a
A support pin 63 is fixed horizontally toward the center of the frame. A long hole (not shown) is provided in the bracket 62 in the horizontal direction.
Is provided, and the bracket 62 is pivotally supported by a support column 64 via the elongated hole. The support pin 63 is connected to the arm 54
After the head 21f of the connecting jig 21 is fitted into the hole 54a, the connecting jig 21 is inserted into the annular groove 21m between the head 21f and the upper portion 21a to support the connecting jig 21 so as not to deviate.

On one side of the slider 60, dogs 65 and 66 are provided at both ends in the sliding direction, and the support plate 53 is provided with brackets 6 near the start and end positions of the slide of the slider 60.
Limit switches 70, 71 are provided via 7, 68. The slider 60 separates the support pin 63 from the annular groove 21m between the head 21f of the connection jig 21 and the upper part 21a at the start end position to release the engagement with the connection jig 21 and at the end position. 63 is engaged with the annular groove 21m. The jig 2 for connecting the support pin 63
The position of the disengagement with 1 and the position of the engagement with the limit switch 7
0, 71.

As shown in FIG. 4 and FIG.
A stopper 43 is provided at the center of the handpiece to face the column 51 on the back side of the hand unit 26 with a slight gap.
The stopper 43 is set to have the same width as the column 51. As shown in FIGS. 7 and 8, air cylinders 27 and 28 are horizontally fixed to the left and right sides of the bracket 41. As shown in FIG. 8, the air cylinders 27 and 28
The rods 27a and 28a are
1b, the stopper 43 and the side surface of the support column 51 are exposed, and pressing members 45 and 46 are provided at the distal end. These air cylinders 27 and 28 are single-acting cylinders, and in the extended state, the pressing members 45 and 46 abut against the stopper 43 and both side surfaces of the column 51 to press. Air cylinder 2
The pressing force of 7, 28 is the restoring force of the hand unit 26, and can be arbitrarily set according to the supplied air pressure.

As shown in FIG. 4, the support shaft 4 of the hand unit 25
A bracket 44 is provided on one side of the front of the bracket 0 so as to protrude horizontally, and the air cylinder 29 is fixed to the bracket 44 horizontally. This air cylinder 2
The tip of the rod 29 a is connected to the center of a support column 51 provided on the front side of the rotary shaft 50 via a joint 47. The air cylinder 29 is a double-acting cylinder,
The hand unit 26 can be rotated with respect to the hand unit 25 in the direction of arrow C or CC ′ in FIG.

Returning to FIG. 2, the air cylinders 27 and 28 are connected to an electromagnetic switching valve 32 of a switching means 31, and the electromagnetic switching valve 32 is connected to a pneumatic source (not shown) via a pressure regulating valve 33. You. The air cylinder 29 is connected to an electromagnetic switching valve 36, and the electromagnetic switching valve 36 is connected to the air pressure source via a pressure regulating valve 37. Then, the electromagnetic switching valves 32 and 33
Is connected to the control device 3 shown in FIG. These electromagnetic switching valves 32 and 36 are controlled by the control device 3. The limit switches 70 and 71 shown in FIG.

When the electromagnetic switching valve 32 is switched to the position 32A, a predetermined pressure set by the pressure regulating valve 33 is supplied from the pneumatic pressure source to the air cylinders 27 and 28, and the air cylinders 27 and 28 Extend and press member 4
5 and 46 are brought into contact with the stopper 43 and the column 51. As a result, the air cylinders 27 and 28 are activated and function as predetermined air springs. Air cylinder 2
The air pressures 7 and 28 can be adjusted by setting the pressure regulating valve 33 to a predetermined pressure. The pressure regulating valve 33 operates as a relief valve when the cylinder is compressed by resistance and the internal pressure rises, and maintains a target operating force. When the solenoid valve 32 is switched to the position 32B, the air cylinders 27 and 28 are released to the atmosphere and the air cylinders 27 and 28 are opened.
The rod is contracted by the spring built in 28 and loses its function as an air spring, and becomes inoperative. The air cylinders 27 and 28 have a clutch function. When the air cylinders 27 and 28 are activated, the hand parts 25 and 26 are resiliently engaged with each other, and when not activated, the hand parts 25 and 26 are disconnected from each other. Turned off. That is, the air cylinders 27, 2
8 is a clutch mechanism.

When the electromagnetic switching valve 36 is switched to the position 36C shown in the drawing, the air cylinder 29 is opened to the atmosphere and is expandable and contractable. When it is switched to the position 36B, it is extended and the hand part 26 is rotated in the direction of arrow CC. The air pressure of the air cylinder 29 is set by a pressure regulating valve 37.

The operation will be described below. As shown in FIG. 1, the control device 3 drives the conveyor 5 to carry the transmission 17 mounted on the pallet 16 into the test apparatus main body 2 and stop it at a predetermined position. Then, the input shaft motor 9 is connected to the input shaft of the transmission 17, and the output shafts 10, 10 'are connected to the output shaft. At this time, as described above, the connecting jig 2
1 is mounted in advance. On the other hand, the arm 7 of the robot 6
Is attached to the slider 6 shown in FIG.
0 is retracted to the start end position in the direction of arrow D, and the support pin 63 is retracted from below the bracket 54 so that the connection jig 2
1 can be mounted. In addition, hand 20
, The air cylinders 27 and 28 are activated (clutch on) and function as air springs.

Next, the advance / retreat driving device 8 moves the robot 6 to above the connecting jig 21 mounted on the control shaft 18 of the transmission 17. Then, the robot 6 lowers the hand 20 in the downward direction of FIG. 4 (in the direction of the arrow E ′), and inserts the connecting jig 21 into the hole 54 a at the lower end of the arm 54.
The head 21f of the support shaft 21e of FIG.
7, the engaging pin 56 is engaged with the slit 21h of the engaging portion 21g of the connecting jig 21. As a result, the mutual positional deviation at the time of connection between the control shaft 18 and the hand 20 is absorbed, and both of them are accurately positioned and connected.

Next, the cylinder 57 of the hand 20 extends to move the slider 60 to the end position in the leftward direction (the direction of arrow D ') in FIG. With the movement of the slider 60, the tip of the support pin 63 is moved to the upper part 21a of the connecting jig 21 and the head 2
1f into the annular groove 21m. Slider 60
Moves to the end position, the limit switch 71 is driven by the dog 66, and the cylinder 57 stops. With the slider 60 stopped at the end position, the support pin 63 is securely engaged in the annular groove 21m of the connection jig 21. Thereby, the hand 20 and the control shaft 18
Are linked.

Next, the robot 6 controls the hand 20 in accordance with the control program of the control device 3,
Perform a shift operation. The select operation is performed by moving the hand 20 in the direction of the arrow A or A ', and the shift operation is performed by rotating the hand 20. Select operation is performed by the robot 6
Is an operation of moving the control shaft 18 in the axial direction. Therefore, relative rotation occurs between the hand unit 25 fixed to the robot 6 and the hand unit 26 fixed to the control shaft 18 side. There is no. That is, both of them have a relative rotation angle of 0 as shown in FIGS. And the air cylinders 27 and 28
Pressing members 45 and 46 are in contact with the stopper 43 and the side surfaces of the column 51.

On the other hand, the shift operation is an operation in which the robot 6 rotates the control shaft 18.
Relative rotation occurs between the hand unit 25 fixed to the robot 6 and the hand unit 26 fixed to the control shaft 18 side. When the shift operation is performed and the hand unit 25 is turned, for example, in the direction of arrow C as shown in FIG. 2, the hand unit 26 also tries to turn in that direction. However, the hand unit 26 is connected to the shift lever 18 so as to be relatively non-rotatable, and tries to maintain a stopped state according to the shift resistance of the synchronizer. Accordingly, when the hand unit 25 rotates in the direction of arrow C (for example, in the third gear), the strut 51 of the rotating shaft 50 of the hand unit 26 pushes the pressing member 45 of the air cylinder 27 in the direction of arrow F in FIG. To compress the air cylinder 27. On the other hand, the pressing member 46 of the air cylinder 28 is
The stopper 43 stops the contact with the column 51.

When the compression force (air spring pressure) of the air cylinder 27 exceeds the force for holding the stopped state of the hand part 26, the hand part 26 is rotated together with the hand part 25 in the direction of arrow C, and the control shaft 18 Shift operation. When the hand unit 26 is rotated from the stop state, the force pressing the air cylinder 27 is reduced, and accordingly, the air cylinder 27 is extended to rotate the hand unit 26 in the direction of arrow C. The air cylinder 27 stops at that position when the pressing member 45 contacts the stopper 43. Then, the relative rotation angle between the hand units 26 and 25 returns to zero. In this state, the hand unit 26 rotates together with the hand unit 25 to perform a shift operation. As a result, even if the arm operation of the robot 6 is a uniform rotational movement, the shaft side hand portion 26
Is changed according to the operating resistance of the control shaft 18, and is close to the operation at the time of the actual shift operation by a human. The amount of rotation of the hand unit 26 during the shift operation, that is, the rotation angle of the control shaft 18 is detected by the potentiometer 75 and is input to the control device 3 as a feedback signal.

Further, the hand 20 can absorb the variation at the stroke end of the control shaft 18 due to the assembling accuracy of the transmission (work) by the spring force of the air cylinders 27 and 28, and the control shaft 18
The overload is prevented from being applied to the stroke end. This prevents the transmission 6 from being damaged during the shift operation of the transmission 17 by the robot 6.

When the hand unit 25 has an arrow CC in the opposite direction to the above,
When rotating in the direction (for example, the fourth gear side), the air cylinder 28 operates in the same manner as the air cylinder 27 to apply an elastic force and a restoring force to the hand unit 26. Then, the robot 6 can perform a shift operation following the change of the control shaft 18. In the hand 20, the elasticity and the restoring force are given to the hand 25 by the air cylinders 27 and 28 of the hand unit 26, so that the origin is accurately reproduced without the hysteresis in the shift operation.

When the transmission 17 is shifted in this manner, a synchronizing device (a synchronizing mechanism) in the transmission 17 performs a synchronizing operation by meshing the gears. Perform the test so that it does not come off. When performing this test, the air cylinders 27 and 28 are deactivated, and the control shaft 18 is moved to the transmission 17.
The driving is performed by driving the air cylinder 29 in a direction in which the synchronization device in the transmission mechanism moves away. That is, the solenoid valve 32 is switched to the position 32B as shown in FIG.
28 is released to the atmosphere to make it inoperative (clutch off). Then, the electromagnetic switching valve 36 is switched to the position 36A or 36B, the air cylinder 29 is extended or shortened, and the hand unit 26 is rotated with respect to the hand unit 25 in the arrow C or CC direction. As a result, the control shaft 18 of the transmission 17 is rotated in the shift direction, and the separation (gear removal) test of the synchronizer is performed.

For example, a change in air pressure of the air cylinder 29 generated when the synchronizing device separates (gear is disengaged) is detected by the potentiometer 75 as rotation of the hand 26, and the control device 3 separates the synchronizing device. Is determined. Thus, a test is performed in which the synchronizer in the transmission mechanism of the transmission 17 separates (gear loss). The hand 20 has a double structure with no hysteresis in the hand portions 25 and 26, so that the auxiliary air cylinder 29 is used to accurately and easily separate (synchronize with the gear) of the transmission 17. Can be determined.

(Embodiment 2) FIGS. 9 to 11 show Embodiment 2 of the hand. The same members and corresponding members as those shown in FIG. 4 are denoted by the same reference numerals and corresponding reference numerals, and description thereof is omitted. As shown in FIGS. 9 to 11, the hand 20 'is used for performing a measurement test of the pulling force and the pressing force at the time of the select operation of the control shaft 18 of the transmission 17 and the turning force at the time of the shift. .
As shown in FIG. 9, the hand 20 ′ is provided with a pressure sensor, for example, a load cell 80 in the middle of the support column 64 of the bracket 61 fixed to the slider 60. The load cell 80 detects a force applied to the support pin 63 ′ when the control shaft 18 is pulled or pushed.

As shown in FIGS. 10 and 11, the engaging pin 56 'for engaging with the slit 21h of the engaging portion 21g of the connecting jig 21 is provided at the lower end of a bracket 85 provided on the support plate 53'. The rod 86 is vertically fixed so as to face downward in the middle of a rod 86 slidably fitted in a horizontally provided shaft hole 85a. A floating connector 87 is fixed to one end of the rod 86 via a load cell 81. The floating connector 87 is connected to the load cell 81 with no load applied to the engagement pin 56 '.
To prevent stress on the support plate 5
It is connected to the bracket 88 via 3 '. The load cell 81 detects an axial force applied to the rod 86 via the support pin 56 'when rotating the control shaft 18. The control device measures a pulling force (selection force) and a turning force (shift force) applied to the control shaft 18 based on signals from the load cells 80 and 81.

To measure the pulling force (selection force) during the selection operation of the control shaft 18, the hand 20 ′ is driven in the directions of arrows A and A ′ as shown in FIG. Drive in the direction. In order to measure the rotational power (shift force) during the shift operation of the control shaft 18, the rod 85 is driven in the directions of arrows G and G ′ in FIG. 11 to rotate the control shaft 18 via the connection jig 21. I do. In addition, as shown in FIG.
By making 3′a spherical, the sliding resistance with the connecting jig 21 during rotation is reduced.

[0046]

As described above, according to the present invention, a control shaft of a manual transmission is directly operated by a shift drive device such as a robot, thereby enabling highly accurate measurement of a select operation and a shift operation. . According to the first aspect of the invention, it is easy to accurately grasp and operate the tip of the control shaft by the hand, and it is possible to prevent damage to the tip or malfunction of the shift. According to the second aspect of the present invention, even when the shift driving device simply operates at a constant speed, the operation is changed in accordance with the operating resistance of the control shaft, that is, the actual shift operation by a human. The control shaft can be operated by replacing it with something similar to. This also has the effect of being able to flexibly cope with variations in the shape and position of the work. Further, according to the third aspect of the present invention, since the fluid cylinder acts as an air spring, the rotation operation at a constant speed by the shift driving device is replaced by an operation in which the speed changes according to the operating resistance, and transmitted to the control shaft. Is done. Therefore, there is an effect that the actual shift operation described above can be reliably realized. Further, according to the invention of claim 4, there is an effect that after the transmission is shifted and the synchronization is completed, it is possible to confirm that the meshing of the gears does not come off again.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a test device for a manual transmission according to the present invention.

FIG. 2 is an explanatory view showing an outline of a hand of the test apparatus main body shown in FIG.

FIG. 3 is a perspective view of a connection jig and a control shaft mounted on the control shaft of FIG. 1;

FIG. 4 is a front view of a hand for connecting the robot of FIG. 1 and a connection jig.

FIG. 5 is a sectional view taken along the line VV in FIG. 4;

FIG. 6 is a bottom view of the hand of FIG. 4;

FIG. 7 is a rear view of the hand of FIG. 4;

8 is a sectional view taken along the line VIII-VIII in FIG.

FIG. 9 is a front view of a second embodiment of the hand of FIG. 1;

FIG. 10 is a side view of FIG. 9;

FIG. 11 is a rear view of FIG. 9;

FIG. 12 is a characteristic diagram showing a change in stroke and a change in shift operation force in an actual shift operation of the manual transmission.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Test device of manual transmission 2 Test device main body 3 Control device 6 Robot 7 Arm 8 Forward / backward drive device 17 Transmission 18 Control shaft 19 Shift lever 20, 20 'Hand 21 Connection jig 25, 26 Hand unit 27, 28, 29 , 57 Air cylinder 31, 35 Switching means 40 Support shaft 41 Stopper 50 Rotating shaft 51 Support 53 Support plate 54 Bracket 70, 71 Limit switch 80, 81 Load cell

Claims (4)

[Claims] An apparatus for switching and testing a transmission mechanism in a manual transmission that performs a shift by selectively switching a plurality of transmission mechanisms by shifting a control shaft in an axial direction and a rotation direction. A hand connected to the tip of the control shaft; an advancing / retracting drive device for approaching the tip of the control shaft to connect the hand; and a hand connected to the tip of the control shaft in the axial direction of the control shaft. And a shift driving device for performing a shift operation in each of the rotation directions, and a connection jig is detachably provided between the control shaft tip and the hand, and the control shaft tip is connected to the control shaft tip via the connection jig. The control hand is connected to the control chassis. Test device for a manual transmission, characterized in that the mutual positional deviation at the time of connection with the bets are absorbed. 2. An apparatus for switching and testing said transmission mechanism in a manual transmission which performs a shift by selectively switching a plurality of transmission mechanisms by shifting a control shaft in an axial direction and a rotation direction. A hand connected to the tip of the control shaft; an arm supporting the hand; and a shift drive device for shifting the hand via the arm, and the hand has a restoring force. An apparatus for testing a manual transmission, wherein an elastic means is provided, and a shift operation by the shift drive device is transmitted to the control shaft via the elastic means. 3. The hand comprises a control shaft side hand portion and an arm side hand portion which are rotatable relative to each other, wherein the elastic means is provided on one hand portion and is opposite to the other hand portion in a direction opposite to each other. 3. The test device for a manual transmission according to claim 2, wherein the test device is constituted by a pair of fluid cylinders provided to apply a rotational force. 4. A switching means for switching between operation and non-operation of the fluid cylinder, and an urging means for urging the control shaft in a direction in which a synchronizing device in the transmission mechanism is separated when the fluid cylinder is not operated by the switching means. 4. The testing device for a manual transmission according to claim 3, further comprising means.