JPH1068670A - Three-dimensional oscillating apparatus - Google Patents
Three-dimensional oscillating apparatusInfo
- Publication number
- JPH1068670A JPH1068670A JP8247079A JP24707996A JPH1068670A JP H1068670 A JPH1068670 A JP H1068670A JP 8247079 A JP8247079 A JP 8247079A JP 24707996 A JP24707996 A JP 24707996A JP H1068670 A JPH1068670 A JP H1068670A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- axis direction
- frame
- swing frame
- slider
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Details Of Measuring And Other Instruments (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、振動センサ等の被
搭載物をX、Y、Z軸方向で往復動、揺動あるいは回動
させるための3次元動揺装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional oscillating device for reciprocating, oscillating or rotating an object such as a vibration sensor in X, Y and Z axes.
【0002】[0002]
【従来の技術及び発明が解決しようとする課題】近年、
橋梁、高層ビル、船舶等のように振動、揺動、衝撃等々
の3次元的な運動状態にあると考えられるものに関し
て、構造試験や地震対策等のためにその運動状態を作り
出して検出、解析しようとする試みが種々なされてお
り、そのための振動試験装置や加振装置が数多く提案さ
れている。ところが従来の振動試験装置等にあっては、
1次元あるいは2次元振動によるものが多く、3次元の
振動を発生させ得るものであっても直線的な変位の組み
合わせによるものでしかなく、しかも変位がごく小さな
ものが多く、本願発明者等の知るところでは、左右・上
下に大きく曲りくねる、荒天下の船舶上や強風下の高層
ビル屋上や橋梁上で経験するような、いわゆる「うね
り」のような複合運動状態を作り出すのに適当なものが
なかった。2. Description of the Related Art In recent years,
For bridges, high-rise buildings, ships, etc., which are considered to be in a three-dimensional motion state such as vibration, swing, impact, etc., create and detect and analyze the motion state for structural tests, earthquake countermeasures, etc. Various attempts have been made, and a number of vibration testing devices and vibration devices have been proposed. However, in a conventional vibration test device, etc.,
In many cases, one-dimensional or two-dimensional vibrations are used, and even those that can generate three-dimensional vibrations are only based on a combination of linear displacements, and many have very small displacements. As we know, it is suitable for creating a complex motion state such as so-called "undulation", such as winding on the left and right and up and down, on a ship under stormy weather, on the roof of a high-rise building under strong wind, or on a bridge There was no.
【0003】例えば特公平7−54418号公報に開示
される動揺装置は、動揺台に取り付けた3組の自在継ぎ
手の各組に一対ずつの動作杆の上端を結合し、各対の動
作杆の下端部を直線移動して開閉することにより、動揺
台を6自由度に動かし得るようにするものである。とこ
ろがこの装置では、動揺台を6自由度に動かし得るとは
いっても、X軸、Y軸周りで動揺台を回動させるのでは
なく、3対の動作杆の端部位置の上下によって擬似的に
うねらせるものであり、このため各軸周りでの運動を正
確に把握することは構造上難しくなっている。[0003] For example, a rocking device disclosed in Japanese Patent Publication No. Hei 7-54418 couples the upper ends of a pair of operating rods to each of three sets of universal joints attached to a rocking table, and controls the operating rods of each pair. The lower end is moved linearly to open and close, so that the rocking table can be moved in six degrees of freedom. However, in this apparatus, although the rocking table can be moved in six degrees of freedom, the rocking table is not rotated around the X axis and the Y axis, but is pseudo by the vertical movement of the end positions of the three pairs of operating rods. Therefore, it is structurally difficult to accurately grasp the movement around each axis.
【0004】また特開平2−22594号公報に開示さ
れる多自由度微動装置は、微動台の質量中心を原点とし
て互いに直交するX、Y、Zの3軸の方向と、3軸のそ
れぞれの周りの6自由度方向に微動させ得る6個のアク
チュエータを設けることにより、各自由度方向の動的特
性を一致させ得るようにするものである。ところがこの
装置では、6個のアクチュエータの進退動作のみによっ
て微動台を駆動するため、上記特公平7−54418号
公報の動揺装置と同様に、軸の周りで微動台を回動させ
るのではなく、アクチュエータの上下によって擬似的に
うねらせるもので、各軸周りでの運動を正確に把握する
ことは構造上難しく、しかも微動状態のみしか発生させ
得ないものともなっている。The multi-degree-of-freedom fine movement apparatus disclosed in Japanese Patent Application Laid-Open No. 22594/1990 has three axes of X, Y, and Z orthogonal to each other with the center of mass of the fine movement table as the origin. By providing six actuators that can finely move in the directions of six degrees of freedom around, dynamic characteristics in the directions of each degree of freedom can be matched. However, in this device, since the fine moving table is driven only by the forward and backward movements of the six actuators, the fine moving table is not rotated around the axis, as in the rocking device disclosed in Japanese Patent Publication No. 7-54418. The actuator is quasi-undulated by the vertical movement of the actuator, and it is difficult to accurately grasp the movement around each axis from a structural point of view, and it is also possible to generate only a fine movement state.
【0005】そこで本発明は、上述のような従来の装置
の問題点に鑑み、3次元の振動、動揺を発生させ得るだ
けでなく、うねりのような運動状態を作り出すことも可
能で、各軸方向あるいは各軸周りでの運動を容易に把握
可能な3次元動揺装置を提供することを目的とする。In view of the above-mentioned problems of the conventional apparatus, the present invention can generate not only three-dimensional vibration and sway, but also a swell-like motion state. It is an object of the present invention to provide a three-dimensional rocking device capable of easily grasping a movement in a direction or around each axis.
【0006】[0006]
【課題を解決するための手段】本発明のうち請求項1に
係る3次元動揺装置は、上記目的を達成するために、支
持構造体と、該支持構造体に取り付けたZ軸方向往復駆
動装置と、該Z軸方向往復駆動装置によりZ軸方向で往
復駆動する可動台とからなり、上記Z軸方向往復駆動装
置が、駆動源と、該駆動源によりZ軸方向で往復駆動さ
れる駆動体とからなり、上記可動台が、ベース体、X軸
方向スライダ及びその駆動源、X軸周り揺動フレーム及
びその駆動源、並びにY軸回り揺動フレーム及びその駆
動源からなり、上記ベース体を上記Z軸方向往復駆動装
置の上記駆動体と連結してZ軸方向で往復駆動可能と
し、上記X軸方向スライダ及びその駆動源を上記ベース
体上に搭載して該X軸方向スライダを上記ベース体上で
X軸方向で往復駆動可能とし、上記X軸周り揺動フレー
ム及びその駆動源を上記X軸方向スライダ上に搭載して
該X軸周り揺動フレームを上記X軸方向スライダ上にお
いてX軸の周りで揺動可能とし、上記Y軸周り揺動フレ
ーム及びその駆動源を上記X軸周り揺動フレームに組み
合わせて該Y軸周り揺動フレームをY軸の周りで揺動可
能としてなることを特徴とする。According to a first aspect of the present invention, there is provided a three-dimensional rocking apparatus comprising: a support structure; and a Z-axis reciprocating drive attached to the support structure. And a movable table reciprocatingly driven in the Z-axis direction by the Z-axis reciprocating drive device, wherein the Z-axis reciprocating drive device is driven by a driving source, and a driving body reciprocally driven in the Z-axis direction by the driving source. Wherein the movable base comprises a base body, an X-axis direction slider and its drive source, an X-axis swing frame and its drive source, and a Y-axis swing frame and its drive source, and the base body is The X-axis direction slider and its driving source are mounted on the base body, and the X-axis direction slider is mounted on the base. Reciprocating drive in the X-axis direction on the body The X-axis swing frame and its driving source are mounted on the X-axis slider, and the X-axis swing frame is swingable around the X axis on the X-axis slider. The swing frame around the Y axis and its driving source are combined with the swing frame around the X axis so that the swing frame around the Y axis can swing around the Y axis.
【0007】また請求項2に係る3次元動揺装置は、上
記支持構造体が、Z軸方向で立設した複数本の柱体を含
み、該複数本の柱体にそれぞれガイド部材を設け、上記
可動台の上記ベース体が、X軸方向中央部のY軸方向両
側に上記Z軸方向往復駆動装置の駆動体との連結部位を
備え、上記複数本の柱体に対応する部位に上記ガイド部
材と連係する被ガイド部を備え、かつ、X軸方向中央部
に沿って上記X軸方向スライダのガイド部材を備えてな
り、上記可動台の上記X軸方向スライダが、X軸方向両
端に上記X軸周り揺動フレーム及びその駆動源の軸支部
を備えてなり、上記可動台の上記X軸周り揺動フレーム
が略矩形の枠体形状を有し、X軸方向両側縁部の中央部
に上記X軸方向スライダの軸支部に対して揺動可能に軸
支する被軸支部を備えるとともに、Y軸方向両側縁部の
中央部に上記Y軸周り揺動フレームの軸支部を備え、上
記被軸支部の一方と上記X軸方向スライダの対応する軸
支部との間に該X軸周り揺動フレームの駆動源を配して
なり、上記可動台の上記Y軸周り揺動フレームが、Y軸
方向両側縁部の中央部に上記X軸周り揺動フレームの軸
支部に対して揺動可能に軸支する被軸支部と、これら被
軸支部の間を連結するとともにセンサ等の被搭載物を搭
載可能な物品搭載部を備え、上記被軸支部の一方と上記
X軸周り揺動フレームの対応する軸支部との間に該Y軸
周り揺動フレームの駆動源を配してなることを特徴とす
る。According to a third aspect of the present invention, in the three-dimensional rocking apparatus, the support structure includes a plurality of columns erected in the Z-axis direction, and a guide member is provided on each of the plurality of columns. The base body of the movable base has a connecting portion with a driving body of the Z-axis reciprocating driving device on both sides in the Y-axis direction at a central portion in the X-axis direction, and the guide member is provided at a portion corresponding to the plurality of columns. And a guide member for the X-axis direction slider along the center in the X-axis direction. The X-axis direction slider of the movable base is provided at both ends of the X-axis direction with the X-axis slider. The movable frame has a substantially rectangular frame shape, and the X-axis swing frame of the movable base has a substantially rectangular frame shape. The pivoted support part that pivotally supports the pivot support part of the X-axis direction slider A supporting portion of the swing frame around the Y axis is provided at a center portion of both side edges in the Y axis direction, and the X axis is provided between one of the supported portions and a corresponding supporting portion of the X axis direction slider. A drive source for the surrounding swing frame is provided, and the swing frame around the Y-axis of the movable table swings at the center of both side edges in the Y-axis direction with respect to the pivot support portion of the swing frame around the X-axis. A rotatably supported pivoted portion, and an article mounting portion for connecting between the pivoted portions and mounting an object such as a sensor, and swinging around one of the pivoted portions and the X axis. A drive source for the swing frame around the Y axis is arranged between the frame and a corresponding shaft support.
【0008】[0008]
【発明の実施の形態】以下本発明の実施の形態を図面を
参照して説明する。図1は本発明に係る3次元動揺装置
の一実施形態を概略的に示す斜視図である。本実施形態
装置は、主に、支持構造枠体1、Z軸方向往復駆動装置
2及び可動台3からなり、可動台3上に所望のセンサ4
を搭載し、可動台3が、Z軸方向での上下動、X軸方向
での往復動及びX軸周りでの揺動(なお本明細書におい
て揺動とは軸回りでの往復回転動をいう。)、Y軸周り
での揺動を行えるようにしてある。なお図1において5
は監視制御装置で、センサ4の制御やデータ収集、後述
する可動台3の駆動制御等を行うもので、詳細な図示及
び説明は省略するが、マイクロコンピュータを用いた適
宜の機器を用いる。もちろん本発明では、可動台3の駆
動制御とセンサ4の制御やデータ収集とを別途の制御装
置を用いて行ってもよく、図示の例の構成には限定され
ない。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view schematically showing one embodiment of a three-dimensional rocking device according to the present invention. The apparatus according to the present embodiment mainly includes a support structure frame 1, a Z-axis direction reciprocating drive device 2, and a movable table 3, and a desired sensor 4 is mounted on the movable table 3.
The movable base 3 is configured to move up and down in the Z-axis direction, reciprocate in the X-axis direction, and oscillate around the X-axis. ), And can swing about the Y axis. Note that in FIG.
Is a monitoring and control device for controlling the sensor 4 and collecting data, controlling the driving of the movable base 3 described later, and the like. Detailed illustration and description are omitted, but appropriate equipment using a microcomputer is used. Of course, in the present invention, the drive control of the movable base 3, the control of the sensor 4, and the data collection may be performed using a separate control device, and the present invention is not limited to the configuration in the illustrated example.
【0009】図2は、支持構造枠体1とZ軸方向往復駆
動装置2の構成を示す斜視図である。この図では可動台
3は図示を省略してある。支持構造枠体1は、ベースプ
レート6上に4本の溝形鋼状の柱体7・・・を立設し、
柱体7の上下端を板状の横板材8で連結して中空で細長
い四角柱状の枠を形成し、枠の頂部とベースプレート6
の四隅との間に4本の筋違状の補強材9を掛け渡して連
結してある。また各柱体7の枠内部側には可動台3のZ
軸方向往復動をガイドするためのリニアガイド10が取
り付けてある。FIG. 2 is a perspective view showing the structure of the support frame 1 and the reciprocating drive 2 in the Z-axis direction. In this figure, the movable base 3 is not shown. The support structure frame 1 has four channel-shaped steel columns 7...
The upper and lower ends of the column 7 are connected by a plate-shaped horizontal plate member 8 to form a hollow elongated rectangular column-shaped frame, and the top of the frame and the base plate 6
And four braided reinforcing members 9 are connected between the four corners. The movable table 3 has a Z inside the frame of each pillar 7.
A linear guide 10 for guiding axial reciprocation is attached.
【0010】Z軸方向往復駆動装置2は、駆動モータ1
1、減速ギヤ装置12、一対のタイミングベルト13、
13、ギヤプーリ上14及びギヤプーリ下15からな
る。減速ギヤ装置12は、支持構造枠体1の下側の横板
材8の一側面に設けてあり、その外側に駆動モータ11
が連結してある。ギヤプーリ上14及びギヤプーリ下1
5は支持構造枠体1の対向する横板材8、8間で回転可
能に軸支してあり、ギヤプーリ下15の一方の軸端部を
減速ギヤ装置12を介して駆動モータ11と連結し、ギ
ヤプーリ上14及びギヤプーリ下15の間に掛け回した
一対タイミングベルト13、13を正逆回転駆動できる
ようにしてある。なお図中16はカムポジショナ、17
はショックアブソーバである。The Z-axis direction reciprocating drive 2 includes a drive motor 1
1, a reduction gear device 12, a pair of timing belts 13,
13, upper gear pulley 14 and lower gear pulley 15. The reduction gear device 12 is provided on one side surface of the horizontal plate member 8 on the lower side of the support structure frame 1, and the drive motor 11
Are connected. Gear pulley upper 14 and gear pulley lower 1
5 is rotatably supported between the opposed horizontal plate members 8 of the support structure frame 1, and one shaft end of the lower gear pulley 15 is connected to the drive motor 11 via the reduction gear device 12, The pair of timing belts 13, 13 stretched between the upper gear pulley 14 and the lower gear pulley 15 can be driven to rotate forward and reverse. In the figure, 16 is a cam positioner, 17 is
Is a shock absorber.
【0011】図3は、可動台3とそのZ軸方向往復駆動
装置2への連結及びその支持構造枠体1への連係構造を
示す斜視図、図4は上部から見た平面図である。可動台
3は、ベース体18、X軸方向の両端を上方へ折り曲げ
た板状部材からなるX軸方向スライダ19とその駆動源
となるリニアモータ20、矩形の枠状のX軸周り揺動フ
レーム21とその駆動源となるサーボモータ22、Y軸
方向の両端を上方へ折り曲げた板状部材からなるY軸回
り揺動フレーム23とその駆動源となるサーボモータ2
4とから構成してある。FIG. 3 is a perspective view showing the movable base 3 and its connection to the reciprocating drive unit 2 in the Z-axis direction and its linking structure to the support frame 1, and FIG. 4 is a plan view seen from above. The movable table 3 includes a base body 18, an X-axis direction slider 19 made of a plate-like member whose both ends in the X-axis direction are bent upward, a linear motor 20 serving as a driving source thereof, and a rectangular frame-shaped swinging frame around the X-axis. 21, a servomotor 22 serving as a drive source thereof, a Y-axis swing frame 23 formed of a plate-like member having both ends in the Y-axis direction bent upward, and a servomotor 2 serving as a drive source thereof
4.
【0012】ベース体18は、X軸方向へ伸びる中央の
ガイドベース部25と、そのY軸方向両側へ突出する3
対の突片部26・・とからなる平板状の部材である。中
央のガイドベース部25の上にはリニアモータ20を搭
載し、このリニアモータ20の可動部とX軸方向スライ
ダ19とが一体になってX軸方向で往復動するようにし
てある。またX軸方向中央の一対の突片部26の端部に
はそれぞれタイミングベルト13との連結固定部材27
が取り付けてあり、これによってベース体18とタイミ
ングベルト13とを連結し、タイミングベルト13の動
作に応じてベース体18が昇降動するようにしてある。
また、四隅の2対の突片部26にはそれぞれ先端にガイ
ド片28が取り付けてあり、このガイド片28が柱体7
のリニアガイド10と摺接し、Z軸方向往復駆動装置2
によって可動部3が昇降動するときのガイドとなるよう
にしてある。The base body 18 has a central guide base portion 25 extending in the X-axis direction and three projections 3 projecting to both sides in the Y-axis direction.
It is a plate-like member composed of a pair of projecting pieces 26. The linear motor 20 is mounted on the central guide base 25, and the movable portion of the linear motor 20 and the X-axis direction slider 19 are integrally reciprocated in the X-axis direction. A pair of fixing members 27 for connecting to the timing belt 13 are provided at ends of a pair of protruding pieces 26 at the center in the X axis direction.
Is attached, whereby the base body 18 and the timing belt 13 are connected, and the base body 18 moves up and down in accordance with the operation of the timing belt 13.
A guide piece 28 is attached to the tip of each of the two pairs of protruding pieces 26 at the four corners.
Sliding contact with the linear guide 10 of the
Thus, the movable portion 3 serves as a guide when the movable portion 3 moves up and down.
【0013】X軸周り揺動フレーム21は、Y軸方向に
沿う両辺の中央部をX軸方向スライダ19の両端の軸支
部29、29に回転自在に軸支してあり、Y軸回り揺動
フレーム23は、両端の被軸支部30、30をX軸周り
揺動フレーム21のX軸方向に沿う両辺の中央部に設け
た軸支部31、31に回転自在に軸支してある。そし
て、一方の軸支は単に回転軸により、他方の軸支はサー
ボモータ22あるいはサーボモータ24が介在すること
によるもので、このため、サーボモータ22を回転させ
るとX軸周り揺動フレーム21がX軸方向スライダ19
上においてX軸の周りで揺動し、サーボモータ24を回
転させるとX軸周り揺動フレーム21の内側でY軸周り
揺動フレーム23がY軸の周りで揺動する。またY軸周
り揺動フレーム23の被軸支部30、30の間を連結す
る形となる平坦な物品搭載部32上にセンサ4等を搭載
する。The swing frame 21 around the X-axis has a center portion on both sides along the Y-axis direction rotatably supported by the shaft supporting portions 29 at both ends of the slider 19 in the X-axis direction. The frame 23 rotatably supports the pivoted support portions 30 at both ends on pivot support portions 31 provided at the center portions of both sides along the X-axis direction of the swing frame 21 around the X-axis. One of the shaft supports is simply a rotating shaft, and the other shaft support is due to the interposition of the servomotor 22 or the servomotor 24. Therefore, when the servomotor 22 is rotated, the swing frame 21 around the X axis is rotated. X-axis direction slider 19
When swinging around the X axis and rotating the servo motor 24 above, the Y axis swing frame 23 swings around the Y axis inside the X axis swing frame 21. In addition, the sensor 4 and the like are mounted on a flat article mounting portion 32 having a shape connecting the pivoted support portions 30 of the swing frame 23 around the Y axis.
【0014】即ち、本実施形態では、駆動モータ11で
タイミングベルト13を回転させることによるZ軸方向
に沿う可動台3全体の昇降、リニアモータ20によるX
軸方向に沿う可動台3全体の往復、サーボモータ22に
よるX軸周りでのX軸周り揺動フレーム21の揺動、サ
ーボモータ24によるY軸周りでのY軸周り揺動フレー
ム23の揺動という各動作を単一の動作として行うこと
ができ、またこれらのうちの二つ以上を組み合わせた複
合動作を行うことができる。例えば船体動作としてみれ
ば、単なる船体の上下の動揺から、ローリング、ピッチ
ング、これらの複合動作となるうねり状の運動状態等を
作り出すことができる。もちろんこれらの動作は、適宜
の動作プログラムを監視制御装置5に記憶させ、そのプ
ログラムに基づいて制御すればよく、さらに適宜のセン
サ4を用いてデータを電気的信号として取り出せば種々
利用可能である。That is, in this embodiment, when the timing belt 13 is rotated by the drive motor 11, the entire movable table 3 is moved up and down along the Z-axis direction.
Reciprocation of the entire movable base 3 along the axial direction, swing of the swing frame 21 around the X axis by the servo motor 22, swing of the swing frame 23 around the Y axis by the servo motor 24. Can be performed as a single operation, and a composite operation combining two or more of them can be performed. For example, in terms of hull motion, rolling, pitching, and a swell-like motion state that is a composite motion of these can be created from simple swaying of the hull up and down. Needless to say, these operations may be performed by storing an appropriate operation program in the monitoring and control device 5 and controlling based on the program. Further, various data can be used by extracting data as electrical signals using an appropriate sensor 4. .
【0015】また図示は省略するが、可動台3のベース
体18とリニアモータ20の間にサーボモータ等の駆動
源を配し、リニアモータ20の固定子をこれに固定すれ
ば、Z軸周りの揺動、即ちヨーイング動作も実現でき、
リニアモータ20にX−Yテーブルタイプのものを用い
れば、Y軸方向に沿う往復動も実現できる。Although not shown, if a drive source such as a servomotor is arranged between the base body 18 of the movable base 3 and the linear motor 20 and the stator of the linear motor 20 is fixed thereto, the Z-axis Swing, that is, yawing operation,
If an XY table type is used as the linear motor 20, reciprocating motion along the Y-axis direction can be realized.
【0016】なお以上説明してきた実施形態において
は、本発明を構成するのに最適なものとしてリニアモー
タ、リニアガイド、サーボモータ、タイミングベルト等
を用いているが、本発明はこれに限定されず、これらの
手段を所望の制御精度その他の条件に応じて公知の機器
から適宜選択、採用できる。また図示は省略している
が、リニアモータ、サーボモータ等は必要に応じて位
置、速度、角度等の各種検出機器を備えるものとする。In the embodiment described above, a linear motor, a linear guide, a servomotor, a timing belt, and the like are used as the most suitable components for constituting the present invention. However, the present invention is not limited to this. These means can be appropriately selected and adopted from known devices according to desired control accuracy and other conditions. Although not shown, the linear motor, the servo motor, and the like are provided with various detection devices for position, speed, angle, and the like as necessary.
【0017】[0017]
【実施例】本発明者等は、図示した上述の実施形態の装
置に基づいて実験装置を製作したが、該実験装置では、
Z軸方向に沿う可動台3全体の昇降距離は3200mm
程度、昇降加速度は±0.001〜490GAL、X軸
方向に沿う可動台3全体の往復距離は500mm程度、
X軸周りでのX軸周り揺動フレーム21の揺動角度とY
軸周りでのY軸周り揺動フレーム23の揺動角度はそれ
ぞれ±15〜20度程度とすることができた。EXAMPLES The present inventors manufactured an experimental apparatus based on the apparatus of the above-described embodiment shown in the drawings.
The ascent / descent distance of the entire movable base 3 along the Z-axis direction is 3200 mm
, The vertical acceleration is ± 0.001 to 490 GAL, the reciprocating distance of the entire movable base 3 along the X-axis direction is about 500 mm,
The swing angle of the swing frame 21 around the X axis around the X axis and Y
The swing angle of the swing frame 23 about the Y axis around the axis could be about ± 15 to 20 degrees.
【0018】[0018]
【発明の効果】本発明に係る3次元動揺装置は以上説明
してきたようなものなので、3次元の振動、動揺状態を
容易に作り出すことができ、いわゆるうねりのような複
合運動状態も擬似的なものでなく正確に発生させること
ができ、従って各軸方向、各軸周りでの運動を正確に把
握することをも可能にするという効果がある。Since the three-dimensional oscillating device according to the present invention is as described above, a three-dimensional vibration and oscillating state can be easily created, and a complex motion state such as a so-called undulation can be simulated. However, it is possible to accurately generate the motion in each axis direction and around each axis.
【図1】本発明に係る3次元動揺装置の一実施形態を概
略的に示す斜視図である。FIG. 1 is a perspective view schematically showing an embodiment of a three-dimensional rocking device according to the present invention.
【図2】図1の装置の支持構造枠体とZ軸方向往復駆動
装置の構成を示す斜視図である。FIG. 2 is a perspective view showing a structure of a support structure frame and a Z-axis direction reciprocating drive device of the device of FIG. 1;
【図3】図1の装置の可動台、Z軸方向往復駆動装置、
支持構造枠体の連結、連係構造を示す斜視図である。3 is a movable table of the apparatus of FIG. 1, a Z-axis reciprocating drive,
It is a perspective view which shows the connection and linkage structure of a support structure frame.
【図4】同平面図である。FIG. 4 is a plan view of the same.
1 支持構造枠体 2 Z軸方向往復駆動装置 3 可動台 4 センサ 5 監視制御装置 6 ベースプレート 7 柱体 8 横板材 9 補強材 10 リニアガイド 11 駆動モータ 12 減速ギヤ装置 13 タイミングベルト 14 ギヤプーリ上 15 ギヤプーリ下 16 カムポジショナ 17 ショックアブソーバ 18 ベース体 19 X軸方向スライダ 20 リニアモータ 21 X軸周り揺動フレーム 22 サーボモータ 23 Y軸回り揺動フレーム 24 サーボモータ 25 ガイドベース部 26 突片部 27 連結固定部材 28 ガイド片 29 軸支部 30 被軸支部 31 軸支部 32 物品搭載部 REFERENCE SIGNS LIST 1 support structure frame 2 Z-axis direction reciprocating drive 3 movable table 4 sensor 5 monitoring and control device 6 base plate 7 column 8 horizontal plate 9 reinforcing material 10 linear guide 11 drive motor 12 reduction gear device 13 timing belt 14 on gear pulley 15 gear pulley Lower 16 Cam positioner 17 Shock absorber 18 Base body 19 X-axis direction slider 20 Linear motor 21 X-axis swing frame 22 Servo motor 23 Y-axis swing frame 24 Servo motor 25 Guide base 26 Projection 27 Joint fixing member 28 Guide piece 29 Shaft support 30 Shaft support 31 Shaft support 32 Article mounting part
Claims (2)
たZ軸方向往復駆動装置と、該Z軸方向往復駆動装置に
よりZ軸方向で往復駆動する可動台とからなり、上記Z
軸方向往復駆動装置が、駆動源と、該駆動源によりZ軸
方向で往復駆動される駆動体とからなり、上記可動台
が、ベース体、X軸方向スライダ及びその駆動源、X軸
周り揺動フレーム及びその駆動源、並びにY軸回り揺動
フレーム及びその駆動源からなり、上記ベース体を上記
Z軸方向往復駆動装置の上記駆動体と連結してZ軸方向
で往復駆動可能とし、上記X軸方向スライダ及びその駆
動源を上記ベース体上に搭載して該X軸方向スライダを
上記ベース体上でX軸方向で往復駆動可能とし、上記X
軸周り揺動フレーム及びその駆動源を上記X軸方向スラ
イダ上に搭載して該X軸周り揺動フレームを上記X軸方
向スライダ上においてX軸の周りで揺動可能とし、上記
Y軸周り揺動フレーム及びその駆動源を上記X軸周り揺
動フレームに組み合わせて該Y軸周り揺動フレームをY
軸の周りで揺動可能としてなることを特徴とする3次元
動揺装置。1. A Z-axis reciprocating drive device attached to the support structure, a movable table reciprocatingly driven in the Z-axis direction by the Z-axis reciprocal drive device.
The axial reciprocating drive device comprises a driving source and a driving body reciprocally driven in the Z-axis direction by the driving source. The movable table comprises a base body, an X-axis direction slider and its driving source, and an X-axis swing. A moving frame and a driving source thereof, and a Y-axis swing frame and a driving source thereof. The base body is connected to the driving body of the Z-axis direction reciprocating driving device to enable reciprocating driving in the Z-axis direction. The X-axis direction slider and its driving source are mounted on the base body, and the X-axis direction slider can be reciprocated in the X-axis direction on the base body.
An X-axis swing frame and its driving source are mounted on the X-axis slider, and the X-axis swing frame is swingable around the X-axis on the X-axis slider, and the Y-axis swing frame is rotated. The moving frame and its driving source are combined with the above-mentioned X-axis swing frame, and the Y-axis swing frame is
A three-dimensional rocking device characterized by being rockable around an axis.
複数本の柱体を含み、該複数本の柱体にそれぞれガイド
部材を設け、上記可動台の上記ベース体が、X軸方向中
央部のY軸方向両側に上記Z軸方向往復駆動装置の駆動
体との連結部位を備え、上記複数本の柱体に対応する部
位に上記ガイド部材と連係する被ガイド部を備え、か
つ、X軸方向中央部に沿って上記X軸方向スライダのガ
イド部材を備えてなり、上記可動台の上記X軸方向スラ
イダが、X軸方向両端に上記X軸周り揺動フレーム及び
その駆動源の軸支部を備えてなり、上記可動台の上記X
軸周り揺動フレームが略矩形の枠体形状を有し、X軸方
向両側縁部の中央部に上記X軸方向スライダの軸支部に
対して揺動可能に軸支する被軸支部を備えるとともに、
Y軸方向両側縁部の中央部に上記Y軸周り揺動フレーム
の軸支部を備え、上記被軸支部の一方と上記X軸方向ス
ライダの対応する軸支部との間に該X軸周り揺動フレー
ムの駆動源を配してなり、上記可動台の上記Y軸周り揺
動フレームが、Y軸方向両側縁部の中央部に上記X軸周
り揺動フレームの軸支部に対して揺動可能に軸支する被
軸支部と、これら被軸支部の間を連結するとともにセン
サ等の被搭載物を搭載可能な物品搭載部を備え、上記被
軸支部の一方と上記X軸周り揺動フレームの対応する軸
支部との間に該Y軸周り揺動フレームの駆動源を配して
なることを特徴とする請求項1の3次元動揺装置。2. The method according to claim 1, wherein the support structure includes a plurality of pillars erected in a Z-axis direction, and the plurality of pillars are provided with guide members, respectively, and the base of the movable base is an X-axis. A driving portion of the Z-axis direction reciprocating drive device provided on both sides in the Y-axis direction at a central portion in the direction, a guided portion linked to the guide member at a portion corresponding to the plurality of pillars, and And a guide member for the X-axis direction slider along the X-axis direction center portion. The X-axis direction slider of the movable base is provided at both ends in the X-axis direction with the X-axis swing frame and its driving source. A shaft support portion, and the X
The pivoting frame around the axis has a substantially rectangular frame shape, and is provided at the center of both side edges in the X-axis direction with a pivoted portion pivotally supported on the pivoting portion of the X-axis slider. ,
A pivot portion of the pivot frame around the Y axis is provided at a center portion of both side edges in the Y axis direction, and pivoting around the X axis is performed between one of the pivoted portions and a corresponding pivot portion of the X axis slider. A drive source for a frame is provided, and the swing frame around the Y axis of the movable table is swingable with respect to a pivot portion of the swing frame around the X axis at the center of both side edges in the Y axis direction. A shaft supporting portion for supporting the shaft, and an article mounting portion for connecting between the shaft supporting portions and for mounting a mounting object such as a sensor, the correspondence between one of the shaft supporting portions and the X-axis swing frame; The three-dimensional rocking device according to claim 1, wherein a drive source for the rocking frame around the Y-axis is arranged between the three-dimensional rocking portion and the supporting portion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8247079A JPH1068670A (en) | 1996-08-28 | 1996-08-28 | Three-dimensional oscillating apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8247079A JPH1068670A (en) | 1996-08-28 | 1996-08-28 | Three-dimensional oscillating apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH1068670A true JPH1068670A (en) | 1998-03-10 |
Family
ID=17158124
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP8247079A Pending JPH1068670A (en) | 1996-08-28 | 1996-08-28 | Three-dimensional oscillating apparatus |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH1068670A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101345869B1 (en) * | 2012-12-18 | 2013-12-30 | 주식회사 현대케피코 | Three dimensional vibration tester |
-
1996
- 1996-08-28 JP JP8247079A patent/JPH1068670A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101345869B1 (en) * | 2012-12-18 | 2013-12-30 | 주식회사 현대케피코 | Three dimensional vibration tester |
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