CN103217285A - Testing device and testing method for automobile gear shifting system performance - Google Patents
Testing device and testing method for automobile gear shifting system performance Download PDFInfo
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Abstract
本发明公开了一种汽车换档系统性能测试装置及测试方法，所述装置包括工作台和固定在工作台上的待测换档系统，其特征在于：还包括一个六轴工业机器人，所述六轴工业机器人连接有力传感器、位移传感器和控制单元；所述控制单元与测试单元双向连接；所述力传感器还与夹具连接，所述夹具嵌套在待测换档系统的测量球头外。本发明的测试装置可精确模拟换档器工作的曲线运动过程，避免了直线运动产生的测量误差，而且制造成本低，应用范围广。另外，本发明通过将换档系统在整车坐标系中的位置精确转换到用户坐标系中，进行精确定位，有效避免了制造误差或积木式系统搭建中定位及姿态误差的影响，保证了测量精度，且测试参数全面，适应性强。
The invention discloses a performance testing device and a testing method of an automobile gear shifting system. The device includes a workbench and a gearshift system to be tested fixed on the workbench. It is characterized in that it also includes a six-axis industrial robot. The six-axis industrial robot is connected with a force sensor, a displacement sensor and a control unit; the control unit is bidirectionally connected with the test unit; the force sensor is also connected with a fixture, and the fixture is nested outside the measuring ball head of the shift system to be tested. The test device of the invention can accurately simulate the curved movement process of the shifter, avoids the measurement error caused by the linear movement, has low manufacturing cost and wide application range. In addition, the present invention precisely converts the position of the shift system in the vehicle coordinate system into the user coordinate system for precise positioning, effectively avoiding the influence of manufacturing errors or positioning and attitude errors in building block system construction, and ensuring the measurement Accuracy, comprehensive test parameters and strong adaptability.
Description
Technical field
The present invention relates to a kind of car gear shifting system performance testing device and use this device to carry out the performance test methods of car gear shifting system, belong to auto parts and components detection technique field.
Background technology
Car gear shifting system (comprising selector, drag-line and the wheel box) quality of performance directly has influence on the safety in utilization of automobile.
Chinese patent CN200820217704.4 discloses a kind of testing station, automobile gear shift assembly is fixed on the working plate, use one can clamp the selector handle then with respect to the jaw that move automobile gear shift body all around, move electric control system control jaw all around, in the simulating reality hand shifting, thereby draw a series of data that produce in gearshift procedure, whether the parameter comparison with setting has defective to detect change gear assembly to be measured.Chinese patent CN200520045396 discloses a kind of testing table that similarly is used for performance test of automobile gear shift assembly, comprises a worktable, security framework of fixed installation on the worktable, and the travel mechanism of an XY direction is installed in suspention thereon.The characteristics of two kinds of above-mentioned pick-up units are that jaw needs to produce moving of both direction, so the design of the driver of the control structure of jaw and electrical control is comparatively complicated, and manufacturing cost is higher.Chinese patent CN200910030633.6 discloses a kind of automobile gear shift assembly Performance Detection workstation and detection method thereof, described automobile gear shift assembly Performance Detection workstation includes first drive system and second drive system, and be used for fixing the selector body test board, be used to clamp the jaw of selector handle, described first drive systems test board and selector body rotate around first axle, described second drive systems jaw and selector are the rotation of winding by hand second axis, and described first axle is vertical mutually with second axis.This invention technology is all rotated by independent mechanism controls by making selector body and selector handle, has simple in structurely, easy to assembly, and cost such as reduces greatly at advantage.But because the movement locus of actual gearshift procedure is a circular curve, and adopt linear electric motors or cylinder as the selector power source, can only realize rectilinear motion, therefore, the common defects of above-mentioned technology all is the curvilinear motions that can not accurately simulate gear shift, measuring error is big, and prior art can only be carried out the test of berth-changing strength, can not carry out the test in foozle (as the gap), cause the performance test technology of existing car gear shifting system still to have weak point, can not get rid of the potential safety hazard that foozle produces fully.
Summary of the invention
The problems referred to above and defective at the prior art existence, the purpose of this invention is to provide a kind of car gear shifting system performance testing device and use this device to carry out the performance test methods of car gear shifting system, realize the accurately circular motion track of the actual gear shift of simulation, not only can (comprise selector to gear change system, drag-line and wheel box) the dynamic duty process measure, also can measure separately selector or drag-line, and measurement parameter not only comprises berth-changing strength, also comprise the selector gap, gear shift efficient, the gear shift compliance, handball elastic deformation and selector elastic deformation, the potential safety hazard that produces with the foozle of getting rid of gear change system fully.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of car gear shifting system performance testing device, comprise worktable and the gear change system to be measured that is fixed on the worktable, it is characterized in that: also comprise a six-shaft industrial robot, described six-shaft industrial robot is connected with force transducer, displacement transducer and control module; Described control module is connected with test cell is two-way; Described force transducer also is connected with anchor clamps, and described anchor clamps are nested in outside the measurement bulb of gear change system to be measured.
Described gear change system to be measured comprises the combination of the combination of selector, drag-line or selector and drag-line or selector and drag-line, wheel box.
Described measurement bulb is selector handle ball to be measured or drag-line bulb to be measured.
Described force transducer is the single shaft force transducer.
Described displacement transducer is that the backguy displacement transducer is or/and grating displacement sensor.
Described test cell is an industrial computer.
Described industrial computer is provided with data acquisition unit.
Also be provided with display unit on the described industrial computer.
Use described proving installation to carry out the performance test methods of car gear shifting system, comprise the steps:
1) gear change system to be measured is fixed on the worktable, force transducer, displacement transducer are connected with six-shaft industrial robot, and the anchor clamps that will be connected with force transducer correctly is nested on the measurement bulb;
2) test cell passes through the coordinate figure accurate transformation according to the relation of the position between car load coordinate system and the user coordinate system in user coordinate system with the position of gear change system to be measured in the car load coordinate system;
3) control module carries out action teaching according to the user coordinates set occurrence of test cell conversion and the test condition of parameter to be measured to robot;
4) measure berth-changing strength and/or displacement in real time, compare, can learn whether each performance parameter result of gear change system to be measured meets desired standard with design standards.
Compared with prior art, the present invention is a power source by adopting six-shaft industrial robot, it is perpendicular with the selector handle all the time to be implemented in the motion process application of force direction, can accurately simulate the curvilinear motion process of selector work, the measuring error (reaching as high as 20%) of having avoided rectilinear motion to produce is applicable to the operation of all kinds of vehicle manuals and automatic gear changer.And at different selectors, need only before test, change corresponding anchor clamps and get final product, use is simple, cost is low.In addition, because the dirigibility of robotic programming can realize the conversion of different coordinates easily, effectively avoid foozle or modular system to build the influence of middle location and attitude error.The present invention not only can measure the dynamic duty process of gear change system, also can measure separately selector or drag-line, and measurement parameter not only comprises berth-changing strength, also comprise selector gap, gear shift efficient, gear shift compliance, handball elastic deformation and selector elastic deformation, and measuring method is simple, the potential safety hazard that can get rid of the foozle generation of gear change system fully, applied range, adaptability is strong.
Description of drawings
Fig. 1 is the structural representation of a kind of car gear shifting system performance testing device provided by the invention;
Structural representation when Fig. 2 is to use the berth-changing strength of proving installation provided by the invention test selector;
Structural representation when Fig. 3 is to use proving installation provided by the invention test each gear gap of selector and front and back stroke compliance;
Structural representation when Fig. 4 is to use the zero load friction force of proving installation provided by the invention test drag-line;
Structural representation when Fig. 5 is to use proving installation test drag-line provided by the invention gap;
Structural representation when Fig. 6 is to use the berth-changing strength of combined system of proving installation provided by the invention test selector and drag-line;
Structural representation when Fig. 7 is to use each gear gap of combined system of proving installation provided by the invention test selector and drag-line;
Structural representation when Fig. 8 is to use the berth-changing strength of combined system of proving installation provided by the invention test selector and drag-line, wheel box;
Structural representation when Fig. 9 is to use proving installation provided by the invention to test the selector elastic deformation.
Among the figure: 1, six-shaft industrial robot; 2, force transducer; 3, displacement transducer; 4, control module; 5, test cell; 6, anchor clamps; 7, measure bulb; 8, selector handle ball; 9, selector; 10, worktable; 11, drag-line bulb; 12, drag-line fixture; 13, drag-line; 14, fixing card; 15, fixed chuck; 16, fixture; 17, wheel box; 18, displacement transducer; 19, the centre of gyration; 20, selector housing.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in further details.
As shown in Figure 1: a kind of car gear shifting system performance testing device provided by the invention, comprise a six-shaft industrial robot 1, described six-shaft industrial robot 1 is connected with force transducer 2, displacement transducer 3 and control module 4; Described control module 4 and 5 two-way connections of test cell; Described force transducer 2 also is connected with anchor clamps 6, and described anchor clamps 6 are nested in outside the measurement bulb 7 of gear change system to be measured.
Described gear change system to be measured comprises the combination of the combination of selector, drag-line or selector and drag-line or selector and drag-line, wheel box.
Described measurement bulb 7 is selector handle ball 8 to be measured or drag-line bulb 11 to be measured.
Described force transducer 2 is the single shaft force transducer.
Described displacement transducer 3 is that the backguy displacement transducer is or/and grating displacement sensor.
Described test cell 5 is an industrial computer, also is provided with data acquisition unit and display unit (not shown) on the described industrial computer.
Use the step of berth-changing strength (the test structure synoptic diagram is as shown in Figure 2) of proving installation provided by the invention test selector as follows:
1) selector 9 to be measured is fixed on the worktable 10, with single shaft force transducer (50N, resolution is 0.1N) 2, backguy displacement transducer (500mm, resolution is 0.01mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8;
2) test cell 5 is according to the RPS point of selector 9 to be measured, calculate the car load coordinate system track of handball stress point (POF) when each gear point and each gear point coordinate value, concern the coordinate figure of the coordinate figure accurate transformation of each gear in the car load coordinate system in the user coordinate system according to the position of car load coordinate system and user coordinate system again;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 push-and-pull selector handle balls 8, make selector 9 carry out the circular motion of P1 → P2 → P3 and P3 → P2 → P1; Wherein: P1 is the theoretical position that moves to the P retaining, and P2 is any one position that moves between the PR retaining, and P3 is the theoretical position that moves to the R retaining;
4) in selector real-time measurement berth-changing strength in service and displacement, can obtain the relation curve of berth-changing strength and displacement, compare with design standards, can learn whether the berth-changing strength of selector to be measured meets desired standard.
Use the step in proving installation test each gear gap of selector provided by the invention (the test structure synoptic diagram is as shown in Figure 3) as follows:
1) selector 9 to be measured is fixed on the worktable 10, with single shaft force transducer (50N, resolution is 0.1N) 2, grating displacement sensor (100mm, resolution is 0.001mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8, reach the detent plunger of selector 9 is removed, and use drag-line fixture 12 that drag-line bulb 11 is fixing;
2) test cell 5 is according to the RPS point of selector 9 to be measured, calculate the coordinate figure of selector 9 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with the coordinate figure of the coordinate figure accurate transformation of selector 9 in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by 6 pairs of selectors 9 of anchor clamps before and after the R retaining, apply+/-power of 8N; About P retaining and D retaining, apply+/-power of 8N;
4) in application of force process, measure each gear displacement in real time, can learn whether each gear gap of selector to be measured meets desired standard.
Use the step of proving installation test selector front and back stroke compliances provided by the invention (the test structure synoptic diagram is as shown in Figure 3) as follows:
1) selector 9 to be measured is fixed on the worktable 10, with single shaft force transducer (400N, resolution is 0.1N) 2, grating displacement sensor (100mm, resolution is 0.001mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8, reach the detent plunger of selector 9 is removed, and use drag-line fixture 12 that drag-line bulb 11 is fixing;
2) test cell 5 is according to the RPS point of selector 9 to be measured, calculate the coordinate figure of selector 9 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with the coordinate figure of the coordinate figure accurate transformation of selector 9 in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 shift bar be placed the R retaining by anchor clamps 6, and to shift bar along fore-and-aft direction apply+/-power of 100N;
4) measuring total displacement in real time in the application of force process continuously, can learn whether the front and back stroke compliance of selector to be measured meets desired standard.
Use the step of the friction force (test structure synoptic diagram as shown in Figure 4) of proving installation test drag-line provided by the invention when not loading as follows:
1) with drag-line 13 to be measured by 2 groups fixedly card 14 be fixed on the worktable 10, with single shaft force transducer (50N, resolution is 0.1N) 2, backguy displacement transducer (500mm, resolution is 0.01mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the drag-line bulb 11;
2) test cell 5 is according to the RPS point of drag-line 13 to be measured, calculate the coordinate figure of drag-line 13 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with the coordinate figure of the coordinate figure accurate transformation of drag-line 13 in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 push-and-pull drag-line bulbs 11;
4) friction force and the displacement when drag-line real-time not loading of measurement drag-line in service, can obtain the relation curve and the mean value of drag-line internal friction power and displacement, compare with design standards, can learn whether the friction force of drag-line 13 to be measured when zero load meets desired standard.
Use the step in proving installation test drag-line gap provided by the invention (the test structure synoptic diagram is as shown in Figure 5) as follows:
1) with drag-line 13 to be measured by 2 groups fixedly card 14 be fixed on the worktable 10, with single shaft force transducer (400N, resolution is 0.1N) 2, grating displacement sensor (100mm, resolution is 0.001mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the drag-line bulb 11, and use 15 pairs of fixed chucks fixedly card 14 fix;
2) test cell 5 is according to the RPS point of drag-line 13 to be measured, calculate the coordinate figure of drag-line 13 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with the coordinate figure of the coordinate figure accurate transformation of drag-line 13 in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 with the speed of 12.5mm/s apply respectively at the drag-line input end+/-17.8N and+/-reciprocal force of 67N;
4) displacement of measurement drag-line in real time in application of force process can learn whether the gap of drag-line 13 to be measured meets desired standard.
Use the step of berth-changing strength (the test structure synoptic diagram is as shown in Figure 6) of combined system of proving installation provided by the invention test selector and drag-line as follows:
1) selector 9 to be measured, drag-line 13 are fixed on the worktable 10, with single shaft force transducer (50N, resolution is 0.1N) 2, backguy displacement transducer (500mm, resolution is 0.01mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8;
2) test cell 5 is according to the RPS point of selector 9 to be measured and drag-line 13, calculate handball stress point (POF) and the coordinate figure of drag-line 13 in the car load coordinate system when each gear point, again according to the position of car load coordinate system and user coordinate system relation with each gear and drag-line 13 coordinate figure of the coordinate figure accurate transformation in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 push-and-pull selector handle balls 8, make selector 9 carry out the circular motion of P1 → P2 → P3 and P3 → P2 → P1; Wherein: P1 is the theoretical position that moves to the P retaining, and P2 is any one position that moves between the PR retaining, and P3 is the theoretical position that moves to the R retaining;
4) in selector real-time measurement berth-changing strength in service and displacement, can obtain the relation curve of berth-changing strength and displacement, compare with design standards, can learn whether the berth-changing strength of the combined system of selector to be measured and drag-line meets desired standard.
Use the step in each gear gap (the test structure synoptic diagram is as shown in Figure 7) of combined system of proving installation provided by the invention test selector and drag-line as follows:
1) selector 9 to be measured, drag-line 13 are fixed on the worktable 10, with single shaft force transducer (50N, resolution is 0.1N) 2, grating displacement sensor (100mm, resolution is 0.001mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8, and the detent plunger of selector 9 removed, and use 16 pairs of fixtures fixedly card 14 fix;
2) test cell 5 is according to the RPS point of selector 9 to be measured and drag-line 13, calculate selector 9 and the coordinate figure of drag-line 13 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with selector 9 and drag-line 13 coordinate figure of the coordinate figure accurate transformation in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by 6 pairs of selectors 9 of anchor clamps before and after the R retaining, apply+/-power of 8N; About P retaining and D retaining, apply+/-power of 8N;
4) in application of force process, measure each gear displacement in real time, can learn whether each gear gap of the combined system of selector to be measured and drag-line meets desired standard.
Use the step of berth-changing strength (the test structure synoptic diagram is as shown in Figure 8) of combined system of proving installation provided by the invention test selector and drag-line, wheel box as follows:
1) selector 9 to be measured, drag-line 13, wheel box 17 are fixed on the worktable 10, with single shaft force transducer (400N, resolution is 0.1N) 2, backguy displacement transducer (500mm, resolution is 0.01mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8, and make wheel box 17 also connect a backguy displacement transducer (500mm, resolution is 0.01mm);
2) test cell 5 is according to the RPS point of selector 9 to be measured, drag-line 13 and wheel box 17, calculate handball stress point (POF) and drag-line 13, the coordinate figure of wheel box 17 in the car load coordinate system when each gear point, again according to the position relation of car load coordinate system and user coordinate system with each gear and drag-line 13, the coordinate figure accurate transformation of wheel box 17 in the car load coordinate system coordinate figure in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 push-and-pull selector handle balls 8, make selector 9 carry out the circular motion of P1 → P2 → P3 and P3 → P2 → P1; Wherein: P1 is the theoretical position that moves to the P retaining, and P2 is any one position that moves between the PR retaining, and P3 is the theoretical position that moves to the R retaining;
4) in selector real-time measurement berth-changing strength in service and displacement, can obtain the relation curve of berth-changing strength and displacement, compare with design standards, can learn whether the berth-changing strength of the combined system of selector to be measured and drag-line, wheel box meets desired standard.
Use proving installation test selector elastic deformation amount's provided by the invention (the test structure synoptic diagram is as shown in Figure 9) step as follows:
1) selector 9 to be measured is fixed on the worktable 10, with single shaft force transducer (400N, resolution is 0.1N) 2, grating displacement sensor (100mm, resolution is 0.001mm) 3 be connected with six-shaft industrial robot 1, and the anchor clamps 6 that will be connected with force transducer 2 correctly are nested on the selector handle ball 8;
2) test cell 5 is according to the RPS point of selector 9 to be measured, calculate the coordinate figure of selector 9 in the car load coordinate system, again according to the position of car load coordinate system and user coordinate system relation with the coordinate figure of the coordinate figure accurate transformation of selector 9 in the car load coordinate system in the user coordinate system;
3) control module 4 carries out action teaching according to the user coordinates set occurrence of test cell conversion to robot: make robot 1 by anchor clamps 6 on selector gear shift and block selecting direction, apply respectively+/-18.5N and+/-power of 222N;
4) real-time Displacement Measurement in application of force process, the absolute value sum is the selector elastic deformation amount.
Use proving installation of the present invention also can test parameters such as the gear compliance of selector, work efficiency, handball elastic deformation, not only can measure the dynamic duty process of gear change system, also can measure separately, and measurement parameter is comprehensive to selector or drag-line.In addition, the present invention passes through the position accurate transformation of gear change system in the car load coordinate system accurately to locate in user coordinate system, effectively avoided foozle or modular system to build the influence of middle location and attitude error, guaranteed measuring accuracy, and test parameter is comprehensive, adaptability is strong.
Be necessary at last to be pointed out that at this: above content only is used for technical scheme of the present invention is described in further detail; can not be interpreted as limiting the scope of the invention, some nonessential improvement and adjustment that those skilled in the art makes according to foregoing all belong to protection scope of the present invention.
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| CN109060378A (en) * | 2018-09-14 | 2018-12-21 | 通标标准技术服务(上海)有限公司 | A kind of automatization test system rigidly tested for auto parts and components and its test method |
| CN110108963A (en) * | 2019-05-20 | 2019-08-09 | 江麓机电集团有限公司 | A kind of multi-functional expansible comprehensive actuator shift control apparatus |
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| CN105653837A (en) * | 2015-11-05 | 2016-06-08 | 宁波吉利罗佑发动机零部件有限公司 | Automobile gearbox shift switching performance quantitative evaluating method |
| CN105653837B (en) * | 2015-11-05 | 2018-03-23 | 宁波上中下自动变速器有限公司 | Shifting vehicle gearbox performance quantitative evaluation method |
| CN106872163B (en) * | 2015-12-14 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of selector passer |
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| CN106679875A (en) * | 2016-12-19 | 2017-05-17 | 科瑞自动化技术（苏州）有限公司 | Device and method for test of shifting force of automatic shifter without bulb |
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| CN111998898A (en) * | 2020-09-24 | 2020-11-27 | 重庆清研理工汽车检测服务有限公司 | Detection method for gear shifting device of manual transmission |
| CN111998898B (en) * | 2020-09-24 | 2022-03-25 | 重庆清研理工汽车检测服务有限公司 | Detection method for gear shifting device of manual transmission |
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Denomination of invention: A Performance Testing Method for Automotive Shifting Systems Granted publication date: 20150422 Pledgee: Agricultural Bank of China Limited Shanghai Songjiang Sub-branch Pledgor: SHANGHAI SIJIN INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2024980049472 |