JPH0798266A - Shift feeling check device - Google Patents

Abstract

(57) [Summary] [Purpose] It is easy to handle multiple types of vehicles and the shift feeling is quantified to improve the accuracy of quality judgment. [Arrangement] Cartesian coordinate type or vertical articulated type arm 22
In a shift feeling checking apparatus for checking the shift feeling of a transmission 4 using a robot 1 having a hand, a hand 26 that holds a shift knob 5 of the transmission 4 and three-axis directions arranged between the hand 26 and the arm 22. A movable three-axis operating mechanism 28, an acting force detecting means 32 for detecting an acting force acting in each axial direction of the three-axis operating mechanism 28, and a reaction force detecting for detecting a reaction force from the shift knob 5. Means 30, an arm driving means 34 for driving the arm 22 in a predetermined gear shift operation direction, and a force for pushing the shift knob 5 based on the value of the acting force detected by the acting force detecting means 32 so as to become a prescribed value. Control means 36 for controlling the three operating mechanism 28
And the shift knob 5 when the three-axis operation mechanism 28 operates.
Determination means 38 for determining the shift feeling from the change in the reaction force from the.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shift feeling checking device, and more particularly to a shift feeling checking device for automatically checking the shift feeling of a transmission of an automobile using a robot.

[0002]

2. Description of the Related Art One of the quality evaluation items of a manual transmission is a shift feeling (feeling that a gear is engaged or disengaged). Conventionally, since this shift feeling inspection is a sensory inspection, it has been performed by an operator artificially relying on human senses. This naturally causes individual differences, and as a result, variations occur in the evaluation of shift feeling, so the reliability is low,
There is also a problem that the evaluation result cannot be quantified.

[0003]

Therefore, many proposals have heretofore been made to automatically check the shift feeling of the manual transmission using a machine. For example, the manuals described in JP-A-64-6736 and JP-A-63-274836 are disclosed.
An automatic determination device is disclosed for automatically determining the shift feeling of a transmission. However, these conventional devices can be applied only to a single vehicle type, and thus it is difficult to change the position of the shift knob by changing the vehicle type and to support multiple vehicle types in mixed flow production in which different vehicle types are mixed. Further, since the conventional device is generally large in size, it is difficult to check the shift feeling after mounting the transmission in the vehicle compartment. Therefore, the present invention has been made in order to solve the above-mentioned problems of the prior art, and an object of the present invention is to provide a shift feeling check device that is easily compatible with multiple vehicle types. Another object of the present invention is to provide a shift feeling check device capable of quantifying the shift feeling and improving the accuracy of quality judgment.

A further object of the present invention is to provide a shift feeling checking device for checking the shift feeling of a transmission by using a robot, in which the man-hours for teaching the robot can be reduced.

[0005]

In order to achieve the above object, the present invention provides a shift feeling checking device for checking the shift feeling of a transmission using a robot having an orthogonal coordinate type or vertical articulated type arm. , A hand that holds the shift knob of the transmission, and is arranged between this hand and the arm.
A three-axis operating mechanism that is movable in the axial direction, an acting force detecting unit that detects an acting force acting in each axial direction of the three-axis operating mechanism, and a reaction force detecting unit that detects a reaction force from the shift knob. Controlling the three operating mechanisms so that the force for pushing the shift knob to a predetermined value based on the value of the acting force detected by the acting force detecting means and the arm driving means for driving the arm in a predetermined gear shift operation direction. It is characterized by having a control means and a determination means for determining the shift feeling from the change in the reaction force from the shift knob during the operation of the three-axis operation mechanism. In the present invention thus configured, when checking the shift feeling of the transmission using the robot having the Cartesian coordinate type or the vertical articulated type arm, three axes are provided between the hand holding the shift knob and the arm. A three-axis operation mechanism that can move in any direction is arranged. Therefore, when the arm is driven in the gear shift operation direction, the teaching can be performed in the two-dimensional plane. At this time, the three-axis motion mechanism absorbs the three-dimensional motion. Further, the three-axis operating mechanism is controlled by the control means so that the force pushing the shift knob becomes a predetermined value based on the value of the acting force, so that the reaction force detection means can detect the change in the reaction force from the shift knob. it can. As a result, the shift feeling is determined by the determination means based on the change in the reaction force.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is an overall configuration diagram showing an embodiment of a shift feeling check device of the present invention. As shown in FIG. 1, reference numeral 1 is a conveyor carrying device,
A jig pallet 2 is mounted on the conveyor carrying device 1, and the jig pallet 2 fixedly supports a manual transmission 4 as an inspection target work. The manual transmission 4 is equipped with a shift knob 5 for performing a shift operation. Jig pallet 2
When reaches a predetermined inspection position, the lift stopper 6 is driven. The lifting stopper 6 is used for the conveyor device 1
The above is for positioning the jig pallet 2 in the front-rear direction, and is driven in the up-down direction by a pneumatic cylinder or the like. At the same time, the lifter 10 having the positioning pin 8 on its upper surface is driven. The lifter 10 is for positioning the jig pallet 2 in the front-rear, left-right directions by the positioning pins 8 and is driven in the up-down direction by a pneumatic cylinder or the like. Reference numeral 20 indicates an industrial robot, and the industrial robot 20 is of a type having a vertical articulated arm 22. In addition, this robot 20
Is not limited to the vertical articulated arm, but may be of a type having an orthogonal coordinate type arm. A wrist portion 24 and a hand 26 are attached to the tip of the vertical articulated arm 22. The hand 26 has a function of gripping the shift knob 5 and a slight degree of freedom with respect to the rotation direction and inclination direction of each axis of the end effector described later.

In the present embodiment, these wrist parts 24
An end effector 28, a force sensor 30, and a force sensor 32 are attached as a unit between the hand and the hand 26. As shown in FIG. 2, the end effector 28 is a three-axis orthogonal table, that is, an X-axis table 28a movable in the X-axis direction, a Y-axis table 28b movable in the Y-axis direction, and movable in the Z-axis direction. Z axis table 28
c, each of these tables 28a, 28
b and 28c are independently independently driven actively by a servo motor. Further, the force sensor 30 has an X-axis and a Y-axis.
This is for detecting a reaction force from the shift knob 5 in each axial direction of the axes Z and Z and a moment around each axis. Further, the force sensor 32 detects a displacement of the end effector 28 in each of the X-axis, Y-axis, and Z-axis directions and converts the displacement into a force, so that the end effector 28 is transferred to the shift knob 5 via the hand 26. It is for detecting the acting force to act. Next, the control system will be described. Code 3
Reference numeral 4 denotes a robot controller, and the arm 22 is driven by an operation command from the robot controller 34. Reference numeral 36 indicates an end effector control device. The end effector control device 36 outputs a force control operation command to the end effector 28 based on the force (displacement) information from the force sensor 32, and the end effector control device 36 outputs the end effector control command. 28 is controlled. The force sensor 30 outputs shift feeling information based on the reaction force from the shift knob 5 and the moment around each axis to the determination device 38, and the determination device 38 is the result of determination based on these information.
/ NG information is output to the identification device 40. This identification device 4
0 is stored in the jig pallet 2 and stores vehicle type information and the like, and outputs this stored information to the robot control device 34 and the end effector control device 36. Here, communication between the identification device 40 and the robot control device 34 and the end effector control device 36 is performed by radio waves via an antenna (not shown).

The contents of the shift feeling (particularly, galling detection) checking operation according to the present embodiment will be described below with reference to the flowchart of FIG. In FIG. 3, S
Indicates each step. First, in S1, the vehicle type information is read. This is performed by transmitting the vehicle type information from the identification device 40 to the robot control device 34 and the end effector control device 36. Next, in S2, the manual work to be inspected
Positioning of the transmission 4 is performed. As described above, this positioning is performed by driving the jig pallet 2 having the transmission 4 mounted thereon by driving the lifter 10 having the lifting stopper 6 and the positioning pin 8. Next, after the positioning is completed, the program is switched in S3. That is, since the vehicle type information is different for each vehicle type,
The program is replaced by the corresponding vehicle type program in the robot controller 34. Based on this replaced program, the robot controller 34 sends an operation command to the arm 22.
To the shift knob 5 by the arm 22.
Is driven to the position. Then, in S4, the shift knob 5 is gripped by the hand 26.

Next, in S5, the robot shifts. FIG. 4 shows two types of shift patterns as an example of the shift operation. This speed change operation is performed by operating the arm 22 in a two-dimensional plane (X-Y plane) parallel to the conveyor surface along a predetermined shift pattern. At this time, the arm 22 is not driven in the Z-axis direction. This is because, as will be described later, the end effector 28 absorbs the depression of the shift knob 5 in the Z-axis direction and the subtle displacement in the XY plane that occur during gear shifting. Next, in S6 and S7, the robot arm 22
During the gear shifting operation by, the end effector 28 is force-controlled to move the pressing shift knob 5 with a constant acting force. In this force control, the end effector control device 36 controls the end effector 28 so that the acting force for pushing the shift knob 5 becomes a predetermined constant value by the force (displacement) information from the force sensor 32. In this way, the force of the end effector 28 is controlled, so that the end effector 28 is driven in each of the X-axis, Y-axis, and Z-axis directions, and as a result, the displacements L1 to L1 shown in FIG.
The end effector 28 can absorb L4.
Here, the displacements L1 to L4 indicate the amount of displacement of the shift knob 5 in each axial direction that occurs during gear shifting.

At this time, in S8, the force sensor 30
The change in the reaction force received from the shift knob 5 is measured by.
At the same time, in S9, the change of the stroke of the shift knob 5 is calculated by changing the position of the arm 22 and the displacement value of the end effector 28 in each axis direction (the value of the encoder of the servo motor of each axis).
Measure from and. Here, the operations in steps S5 to S6 are executed at the same time when the gear shifting operation is performed by the robot arm 22. Next, in S10, the reaction force is recorded on the Y axis and the stroke of the shift knob 5 is recorded on the X axis. After this, in S11, as shown in FIG.
The record obtained in 10 is compared with preset criteria. Here, the area indicated by (A) in FIG. 6 is an OK area in which a desired shift feeling is obtained,
The area indicated by (B) is an NG area which is determined to be a defective product because of galling. When it is determined in S11 that it is in the OK area, the process proceeds to S12, the OK data is written in the recognition device 40, and the process proceeds to the next step in S13. On the other hand, if it is determined in S11 that it is in the NG area, the process proceeds to S14, the NG data is written in the recognition device 40, the transmission 4 is carried out to the repair process in S15, and the repair is completed in S16. To do. Then, the same processing is executed from S1.

Next, another embodiment of the present invention will be described. In this embodiment, the present invention is applied in the case of checking the click feeling felt by the operator when the shift knob reaches the final position of each position by the gear shift operation. In this embodiment, basically the same steps as in the flow chart shown in FIG. 3 are executed, but it is not necessary to measure the stroke of the shift knob, and only the reaction force from the force sensor is measured. There is. FIG. 7 is a diagram showing how the reaction force changes. In FIG. 7, the time when the reaction force suddenly drops indicates the time when the shift knob reaches the final position of each position. When reaching this final position, a click feeling occurs due to the amount of change in reaction force (indicated by C in the figure). Therefore, in the present embodiment, if the reaction force change amount C is within a desired range (a ≦ C ≦ b),
It is determined to be the OK area, and if the range is other than that, it is determined to be the NG area. As described above, in the present embodiment, since a versatile robot is used, it is possible to cope with a large number of vehicle types simply by switching the program corresponding to each vehicle type, and the cost of equipment can be reduced. By performing the three-dimensional movement by the end effector 28 capable of the three-axis movement, when the gear shifting operation is performed by the robot arm 22, the movement within the two-dimensional plane can be improved, so that the number of teaching steps for the robot main body can be reduced. Also, the accuracy of teaching is rough and good. Further, since the final position can be detected from the reference point (neutral position), the stroke of the shift knob can be inspected at the same time.

Further, since the acting force for performing the gear shifting operation in the force control of the end effector 28 can be made constant, only the change in the reaction force can be taken out by the force sensor 30, and from this change in the reaction force, The shift feeling can be quantified, and the accuracy of quality judgment can be improved. Furthermore, by using a small robot, it becomes possible to carry the entire device into the vehicle interior, and as a result, the shift feeling can be checked even after the transmission is mounted in the vehicle interior. In the embodiment described above, the work to be inspected is a manual transmission, but the present invention is not limited to this, and can be applied to an automatic transmission.

[0013]

As described above, according to the shift feeling check device of the present invention, it is possible to easily deal with multiple types of vehicles, the shift feeling can be quantified, and the accuracy of quality judgment can be improved. Further, the shift feeling of the transmission is checked by using the robot, and at that time, the teaching man-hours of the robot can be reduced.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of a shift feeling check device of the present invention.

FIG. 2 is a perspective view showing an end effector used in an embodiment of the present invention.

FIG. 3 is a flowchart showing the contents of a shift feeling check operation executed according to an embodiment of the present invention.

FIG. 4 is a diagram showing two types of shift patterns.

FIG. 5 is a diagram showing a displacement of a shift knob during a gear shifting operation.

FIG. 6 is a diagram showing an OK area and an NG area for galling with reaction force and stroke as parameters.

FIG. 7 is a diagram showing an OK region and an NG region regarding a click feeling using a reaction force as a parameter.

[Explanation of symbols]

 4 Manual Transmission 5 Shift Knob 20 Industrial Robot 22 Arm 26 Hand 28 End Effector 30 Force Sensor 32 Force Sensor 34 Robot Controller 36 End Effector Controller 38 Judgment Device 40 Identification Device

Claims (1)

[Claims] 1. A shift feeling check device for checking a shift feeling of a transmission using a robot having a Cartesian coordinate type or a vertical articulated type arm, a hand holding a shift knob of the transmission, and the hand and the arm. And a reaction force from the shift knob, a triaxial movement mechanism disposed between the two axes and movable in the triaxial direction, an action force detection means for detecting an action force acting in each axial direction of the triaxial movement mechanism, and a reaction force from the shift knob. Reaction force detecting means, arm driving means for driving the arm in a predetermined gear shift operation direction, and the force for pushing the shift knob to a predetermined value based on the value of the acting force detected by the acting force detecting means. The control means for controlling the three-movement mechanism and the shift flag from the change of the reaction force from the shift knob during the operation of the three-axis movement mechanism. Shift feeling check apparatus characterized by having a determining means for determining-ring.