JPH1068670A - Three-dimensional oscillating apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional oscillating apparatus capable of easily producing movable conditions such as three-dimensional vibration, oscillation and wave about X, Y, Z axes. SOLUTION: When a timing belt 13 is rotated by a drive motor 11, the whole movable bed 3 provided with linear guides 10 is vertically moved along the Z axis. The whole movable bed 3 is reciprocated along the X axis by a linear motor 20. A single movement is carried out in which an oscillation frame 21 is oscillated about the X axis by the rotation of a servo motor 22 or a oscillation frame 23 is oscillated about the Y axis by the rotation of a sevo motor 24. A composite movement is also carried out in which at least two of these movements are combined with each other. A desired sensor such as a vibration sensor can be mounted on the movable bed 3.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【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.

【図面の簡単な説明】[Brief description of the drawings]

【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.

【符号の説明】[Explanation of symbols]

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)

【特許請求の範囲】[Claims] 【請求項１】 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. 【請求項２】 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.