CN207215473U - A kind of automotive four-door Durable test system based on robot - Google Patents
A kind of automotive four-door Durable test system based on robot Download PDFInfo
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- CN207215473U CN207215473U CN201721284694.1U CN201721284694U CN207215473U CN 207215473 U CN207215473 U CN 207215473U CN 201721284694 U CN201721284694 U CN 201721284694U CN 207215473 U CN207215473 U CN 207215473U
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- 238000012360 testing method Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 20
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- 230000001681 protective effect Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000002474 experimental method Methods 0.000 claims description 5
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Abstract
It the utility model is related to a kind of automotive four-door Durable test system based on robot, including control system, execution system, reponse system, high/low temperature guard system, sample fixed system, safety system and sample vehicle, execution system connects control system by reponse system, reponse system is used to detect the movement position of sample vehicle and fed back, execution system is used for the operation control for being responsible for actuating mechanism, execution system periphery is provided with high/low temperature guard system, the actuating mechanism that high/low temperature guard system is used to protect execution system normal operation under high temperature and low temperature environment, the periphery of sample vehicle and execution system is provided with safety system, safety system is used to ensure sample vehicle and the safety of tester, sample vehicle and the outer actuating mechanism of the car door of execution system are fixed on sample fixed system；The utility model can significantly mitigate the labor intensity of tester, reduce the time manually participated in, greatly improve the quality of testing efficiency and test.
Description
[technical field]
Automobile Measuring Techniques field is the utility model is related to, specifically a kind of automotive four-door based on robot is durable
Test system.
[background technology]
With the continuous development of auto industry, motor vehicle equipment has been enter into the flexibility epoch, more next to the quality requirement of vehicle
Higher, automotive four-door is the automobile component directly contacted with consumer, and vehicle needs to carry out car door function reality during research and development
Existing target test, test content include contour structures reasonability and door lock related to this, hinge, the sealing of passenger car four
Bar, blend stop, locking, it is interior open, external-open handle, glass-frame riser, electronic lock, electronic outside rear-view mirror and console mechanical performance and
Electrical property.
At present, automotive four-door measuring technology is in development and improves the stage, because the test request of each car manufacturer
Have nothing in common with each other, various mechanism implementations are also had nothing in common with each other, but test fixture complexity are mostly present and largely manually entered, it is necessary to spend
Row is built and needs increase additional mechanism providing additional operation on exemplar changes exemplar original feature the defects of, respectively have mechanism also all to exist now
Improve the test system of itself, the situation that real simulation vehicle uses is reached in a manner of as simple as possible.
[utility model content]
The purpose of this utility model seeks to solve above-mentioned deficiency and to provide a kind of automotive four-door based on robot resistance to
It long test system, can significantly mitigate the labor intensity of tester, reduce the time manually participated in, greatly improve testing efficiency
And the quality of test, solve test fixture complexity existing for existing measuring technology, the problems such as a large amount of artificial need to be spent.
Design a kind of automotive four-door Durable test system based on robot to achieve the above object, including control system,
Execution system, reponse system, high/low temperature guard system 11, sample fixed system 2, safety system 12 and sample vehicle 1,
The execution system is four six-joint robots, and the execution system connects control system, the feedback system by reponse system
Unite and the movement position for detecting sample vehicle 1 and fed back, the execution system is used for the operation control for being responsible for actuating mechanism
System, the execution system periphery are provided with high/low temperature guard system 11, and the high/low temperature guard system 11 is used to protect execution system
Actuating mechanism be provided with safety under high temperature and low temperature environment and protect in normal operation, the periphery of the sample vehicle 1 and execution system
Protecting system 12, the safety system 12 are used to ensure sample vehicle 1 and the safety of tester, the sample vehicle 1 and
The outer actuating mechanism of the car door of execution system is fixed on sample fixed system 2.
Four six-joint robots are respectively that door external-open closes robot 1, door external-open closes robot 24, car door
Opening and closing robot 26 in interior opening and closing robot 1, car door, the door external-open closes robot 1, door external-open closes robot
24 are placed in the outer on-off action that automobile external is used to be responsible for automobile both sides car door, and robot 1, car door are opened and closed in the car door
Interior opening and closing robot 26 is placed in the interior on-off action that automotive interior is used to be responsible for arrangements for automotive doors.
The control system includes control main frame 13, robot controller 1, robot controller 2 15, robot control
Device 3 16 processed, robot controller 4 17, the robot controller 1, robot controller 2 15, robot controller
3 16, the input of robot controller 4 17 is respectively by line connection control main frame 13, the robot controller 1,
Robot controller 2 15, robot controller 3 16, the output end of robot controller 4 17 pass through connection car respectively
It is opened and closed robot 1 outdoors, door external-open closes opening and closing robot 1 in robot 24, car door, opening and closing robot two in car door
6, the robot controller 1, robot controller 2 15, robot controller 3 16, robot controller 4 17 are used for
Be responsible for robot motion teaching, motion control, the control main frame 13 be used to being responsible for task coordinate control, monitoring experiment state with
And sensor data acquisition.
The reponse system is made up of proximity transducer and photoelectric sensor, and the proximity transducer, photoelectric sensor are used
Whether in place to be acted in monitoring sample vehicle 1.
The high/low temperature protection system is by the protective garment of Polyester Fibers making, four six-joint robot peripheries
Protective garment is arranged with, constant temperature circulating wind mode is used inside the protective garment.
The main body of the sample fixed system 2 is removable fly block.
The sample vehicle 1, door external-open close robot 1, door external-open closes robot 24 and is fixed on sample and fixes and is
On the removable fly block of system 2, the interior opening and closing robot 26 of opening and closing robot 1, car door is fixed on sample vehicle 1 in the car door
Be respectively provided with interior floor, in the sample vehicle 1 at four door positions monitoring opening/closing door of vehicle position close to sensing
Device 1, proximity transducer 28, proximity transducer 39, proximity transducer 4 10, the door external-open close robot 1, car door
Gripper equipment is separately installed with opening and closing robot 1 and the interior opening and closing robot 26 of car door in outer opening and closing robot 24, car door,
The gripper equipment is used to assist to complete unblock, opened the door, shutdown action, and the high/low temperature guard system 11 is in the form of protective garment
It is wrapped in that door external-open closes robot 1, door external-open is closed in robot 24, car door and is opened and closed in opening and closing robot 1 and car door
The outside of robot 26.
The utility model compared with the existing technology, by using six-joint robot as action actuating mechanism, its flexibility
Height, adaptability is good, can meet various different test requests, meanwhile, replace traditional pneumatic linear actuator, electric cylinder to make using robot
System is simpler, stable, and operating cost is low；The utility model can be greatly decreased experiment Fixture Design early stage, make, build
Time, tester only need to carry out the fixation of sample, the fixation of robot, the setting of sensor, robot motion teaching, i.e.,
It can start to test and wait end to be tested, automated system will be automatically performed a systems such as the unblock, opening and closing, the monitoring of position of car door
Row operation；To sum up, the utility model can significantly mitigate the labor intensity of tester, reduce the time manually participated in, significantly
The quality of testing efficiency and test is improved, is worthy of popularization.
[brief description of the drawings]
Fig. 1 is principle schematic of the present utility model；
Fig. 2 is structural representation of the present utility model；
In figure：1st, sample vehicle 2, sample fixed system 3, door external-open close robot 1, door external-open closes machine
The interior opening and closing robot 27 of opening and closing robot 1, car door, proximity transducer 1, proximity transducer two in people 25, car door
9th, proximity transducer 3 10, proximity transducer 4 11, high/low temperature guard system 12, safety system 13, control main frame
14th, robot controller 1, robot controller 2 16, robot controller 3 17, robot controller four.
[embodiment]
The utility model is made below in conjunction with the accompanying drawings further explained below：
As shown in drawings, the utility model includes：Control system, execution system, reponse system, high/low temperature guard system
11st, sample fixed system 2, safety system 12 and sample vehicle 1, execution system are four six-joint robots, perform system
System connects control system by reponse system, and reponse system is used to detect the movement position of sample vehicle 1 and fed back, performed
System is used for the operation control for being responsible for actuating mechanism, and execution system periphery is provided with high/low temperature guard system 11, high/low temperature protection system
The actuating mechanism that system 11 is used to protect execution system normal operation, sample vehicle 1 and execution system under high temperature and low temperature environment
Periphery be provided with safety system 12, safety system 12 is used to ensure sample vehicle 1 and the safety of tester, sample
Vehicle 1 and the outer actuating mechanism of the car door of execution system are fixed on sample fixed system 2.Wherein, four six-joint robot difference
Robot 1 is closed for door external-open, door external-open closes robot 24, robot 1 is opened and closed in car door, is opened and closed machine in car door
People 26, and door external-open closes robot 1, door external-open closes robot 24 and is placed in automobile external for being responsible for automobile both sides car door
Outer on-off action, opening and closing robot 1 in car door, opening and closing robot 26 is placed in automotive interior and is used to be responsible for automobile in car door
The interior on-off action of car door.
In the utility model, control system includes control main frame 13, robot controller 1, robot controller two
15th, robot controller 3 16, robot controller 4 17, robot controller 1, robot controller 2 15, robot
Controller 3 16, the input of robot controller 4 17 pass through line connection control main frame 13, robot controller one respectively
14th, robot controller 2 15, robot controller 3 16, the output end of robot controller 4 17 pass through connection respectively
Door external-open closes robot 1, door external-open closes opening and closing robot 1 in robot 24, car door, opening and closing robot in car door
26, it is responsible for robot motion teaching, motion control, control main frame 13 is used to be responsible for task coordinate control, programming, monitoring experiment
The task such as state and sensor data acquisition.Reponse system is made up of proximity transducer and photoelectric sensor, proximity transducer,
Photoelectric sensor is used to monitor whether in place sample vehicle 1 acts.High/low temperature protection system is to be made by Polyester Fibers
Protective garment, four six-joint robot peripheries are arranged with protective garment, constant temperature circulating wind mode are used inside protective garment.Sample is fixed
The main body of system 2 is removable fly block.
Control system described in the utility model, it is responsible for system task and coordinates control, programming, monitoring and reponse system number
According to collection；Execution system, it is connected with control system, is responsible for the operation control of actuating mechanism；Reponse system, connect with control system
Connect, including proximity transducer, photoelectric sensor etc. carry out position feedback；High/low temperature guard system, protect the action of execution system
Mechanism can under high temperature and low temperature environment normal operation；Sample fixed system, the actuating mechanism of sample and execution system is carried out
Position and fixed；Safety system, thus it is ensured that test sample and the safety of tester；Wherein, sample vehicle and system is performed
The actuating mechanism of system is rigidly mounted on sample fixed system, and is arranged on sample or on sample fixed system close to biography
Sensor or photoelectric sensor are to detect the movement position of sample, and control system is by execution system according to the good flow of pre-edit
Opening and closing durable test is performed to test sample.
Control system is made up of 1 control main frame and 4 robot controllers, and control main frame is responsible for system task and coordinates control
Task, the robot controllers such as system, programming, monitoring experiment state are responsible for robot motion teaching, motion control and sensor
Data acquisition, control main frame include can be programmed, PERCOM peripheral communication, manually debugging, automatic running, status monitoring, safeguard protection
Etc. function.Execution system is made up of 46 axle robots, is responsible for opening and closing and interior on-off action outside automotive four-door, wherein two big works
The robot for making radius is responsible for the outer on-off action of both sides car door, and the robot of two small radius of clean-up is responsible for the interior opening and closing of car door
Action, is set by action of the teaching machine to robot.Reponse system is made up of proximity transducer and photoelectric sensor, is used
In the action of monitoring sample whether in place.High/low temperature protection system is the protective garment made by Polyester Fibers, its internal use
Constant temperature circulating wind mode, ensures that robot is operated under the conditions of room temperature environment.Sample fixed system main body is removable fly block, is used
In test vehicle and outer opening and closing robot are connected into an entirety, it can also be used to the fixation of sensor, interior opening and closing robot energy
Cross robot base and be fixed on test vehicle interior.Security protection system is using loop control theory, and position is gathered by sensor
Confidence ceases the safety for ensuring test sample, while is equipped with safety protective door safeguard function, and personnel are strayed into system certainly during test automatically
Dynamic shut down ensures personal security.
As shown in Figure 2, it is firm that sample vehicle 1, door external-open close robot 1, door external-open closes robot 24
It is fixed on the removable fly block of sample fixed system 2, the interior opening and closing robot 26 of opening and closing robot 1, car door is consolidated in car door
It is scheduled in sample vehicle 1 on floor, is respectively provided with monitoring opening/closing door of vehicle position in sample vehicle 1 at four door positions
Proximity transducer 1, proximity transducer 28, proximity transducer 39, proximity transducer 4 10, door external-open close robot 1,
Door external-open closes in robot 24, car door and is separately installed with handgrip in opening and closing robot 1 and the interior opening and closing robot 26 of car door
Device, gripper equipment are used to assist to complete unblock, opened the door, shutdown action, the bag in the form of protective garment of high/low temperature guard system 11
It is wrapped in that door external-open closes robot 1, door external-open closes in robot 24, car door opening/closing machine in opening and closing robot 1 and car door
The outside of device people 26, inside use constant temperature circulating wind mode, ensure that robot is operated under room temperature environment state.
The utility model comprises the following steps when in use：1. vehicle is fixed：Test vehicle is carried out with removable fly block
Connect and fixed；2. robot is fixed：Outer opening and closing robot is rigidly fixed with removable fly block, and by interior opening and closing machine
People is rigidly fixed to the inside of test vehicle；3. sensor is set：Proximity transducer and photoelectric sensor are arranged in system
Need the position of supervisory control action；4. action teaching：According to unblock of the requirement of testing process to robot, open the door, shutdown etc. is dynamic
Make carry out teaching；5. the editor of testing process：Edlin is entered by the computer in control main frame, sets movement step, sensing
Device signal, the speed of service and cycle-index etc.；6. test starts：Pass through the computer starting test process in control main frame；⑦
Test terminates：Test is automatically stopped after reaching the cycle-index of setting.
The utility model is simultaneously not limited to the embodiments described above limitation, other any real without departing from spirit of the present utility model
Matter with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in this practicality
Within new protection domain.
Claims (7)
- A kind of 1. automotive four-door Durable test system based on robot, it is characterised in that：Including control system, execution system, Reponse system, high/low temperature guard system (11), sample fixed system (2), safety system (12) and sample vehicle (1), The execution system is four six-joint robots, and the execution system connects control system, the feedback system by reponse system Unite and be used to detect the movement position of sample vehicle (1) and fed back, the execution system is used for the operation for being responsible for actuating mechanism Control, the execution system periphery are provided with high/low temperature guard system (11), and the high/low temperature guard system (11) is held for protection The periphery of the actuating mechanism of row system normal operation under high temperature and low temperature environment, the sample vehicle (1) and execution system is set There is safety system (12), the safety system (12) is used to ensure sample vehicle (1) and the safety of tester, institute The outer actuating mechanism of car door for stating sample vehicle (1) and execution system is fixed on sample fixed system (2).
- 2. the automotive four-door Durable test system based on robot as claimed in claim 1, it is characterised in that：Described four six Axle robot is respectively that door external-open closes robot one (3), door external-open closes opening and closing robot one in robot two (4), car door (5), opening and closing robot two (6) in car door, the door external-open closes robot one (3), door external-open closes robot two (4) and is placed in Automobile external is used for the outer on-off action for being responsible for automobile both sides car door, and the interior opening and closing of robot one (5), car door is opened and closed in the car door Robot two (6) is placed in the interior on-off action that automotive interior is used to be responsible for arrangements for automotive doors.
- 3. the automotive four-door Durable test system based on robot as claimed in claim 2, it is characterised in that：The control system System include control main frame (13), robot controller one (14), robot controller two (15), robot controller three (16), Robot controller four (17), the robot controller one (14), robot controller two (15), robot controller three (16), the input of robot controller four (17) passes through line connection control main frame (13), the robot controller respectively One (14), robot controller two (15), robot controller three (16), the output end of robot controller four (17) are led to respectively Cross connection door external-open closes robot one (3), door external-open closes opening and closing robot one (5) in robot two (4), car door, Opening and closing robot two (6), the robot controller one (14), robot controller two (15), robot controller in car door Three (16), robot controller four (17) are used to be responsible for robot motion teaching, motion control, and the control main frame (13) is used for It is responsible for task coordinate control, monitoring experiment state and sensor data acquisition.
- 4. the automotive four-door Durable test system based on robot as claimed in claim 3, it is characterised in that：The feedback system System is made up of proximity transducer and photoelectric sensor, and the proximity transducer, photoelectric sensor are dynamic for monitoring sample vehicle (1) Whether in place to make.
- 5. the automotive four-door Durable test system based on robot as claimed in claim 4, it is characterised in that：The high/low temperature Protection system is the protective garment made by Polyester Fibers, and four six-joint robot peripheries are arranged with protective garment, institute State and use constant temperature circulating wind mode inside protective garment.
- 6. the automotive four-door Durable test system based on robot as claimed in claim 5, it is characterised in that：The sample is consolidated The main body for determining system (2) is removable fly block.
- 7. the automotive four-door Durable test system based on robot as claimed in claim 6, it is characterised in that：The sample car (1), door external-open closes robot one (3), door external-open closes robot two (4) and is fixed on the removable of sample fixed system (2) On fly block, the interior opening and closing robot two (6) of opening and closing robot one (5), car door is fixed on ground in sample vehicle (1) in the car door On plate, the proximity transducer of monitoring opening/closing door of vehicle position is respectively provided with the sample vehicle (1) at four door positions One (7), proximity transducer two (8), proximity transducer three (9), proximity transducer four (10), the door external-open close robot one (3), door external-open is closed in robot two (4), car door and is opened and closed in opening and closing robot one (5) and car door in robot two (6) respectively Gripper equipment is installed, the gripper equipment is used to assist to complete unblock, opened the door, shutdown action, the high/low temperature guard system (11) it is wrapped in that door external-open closes robot one (3), door external-open closes robot two (4), is opened in car door in the form of protective garment Close the outside of opening and closing robot two (6) in robot one (5) and car door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721284694.1U CN207215473U (en) | 2017-10-04 | 2017-10-04 | A kind of automotive four-door Durable test system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721284694.1U CN207215473U (en) | 2017-10-04 | 2017-10-04 | A kind of automotive four-door Durable test system based on robot |
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| CN207215473U true CN207215473U (en) | 2018-04-10 |
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| CN201721284694.1U Active CN207215473U (en) | 2017-10-04 | 2017-10-04 | A kind of automotive four-door Durable test system based on robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624921A (en) * | 2020-06-10 | 2020-09-04 | 上海有个机器人有限公司 | Door opening and closing test method, medium, terminal and device for mobile robot |
| CN113063580A (en) * | 2021-03-31 | 2021-07-02 | 东风商用车有限公司 | Door lock system endurance test bench and endurance test method |
| CN114112419A (en) * | 2020-08-26 | 2022-03-01 | 广州汽车集团股份有限公司 | An experimental system for door opening and closing |
-
2017
- 2017-10-04 CN CN201721284694.1U patent/CN207215473U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624921A (en) * | 2020-06-10 | 2020-09-04 | 上海有个机器人有限公司 | Door opening and closing test method, medium, terminal and device for mobile robot |
| CN114112419A (en) * | 2020-08-26 | 2022-03-01 | 广州汽车集团股份有限公司 | An experimental system for door opening and closing |
| CN113063580A (en) * | 2021-03-31 | 2021-07-02 | 东风商用车有限公司 | Door lock system endurance test bench and endurance test method |
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Effective date of registration: 20210607 Address after: 402260 Shuangfu New District, Jiangjin District, Chongqing Patentee after: CHONG QING ENERGY College Address before: 200233 building 3, 889 Yishan Road, Xuhui District, Shanghai Patentee before: SGS-CSTC STANDARDS TECHNICAL SERVICES (SHANGHAI) Co.,Ltd. |
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Effective date of registration: 20220328 Address after: 402260 No. 2-6, Fuyun Avenue, Shuangfu street, Jiangjin District, Chongqing (Building 1, experimental building of Chongqing energy Vocational College) Patentee after: Chongqing Biao Neng Ruiyuan Energy Storage Technology Research Institute Co.,Ltd. Address before: 402260 Shuangfu New District, Jiangjin District, Chongqing Patentee before: CHONG QING ENERGY College |
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