JP2002221256A - Minute gravity rotating apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a minute gravity rotating apparatus capable of absorbing vibration caused by unbalance of a box for experiment by means of a counterbalance. SOLUTION: The axis 30 of rotation is supported in a casing 10 by means of bearings 11 and 12, and the boxes 20-23 for experiment that are respectively installed in the tip of arms 24-27 are rotated by a motor 13. A case 28 is installed in the respective boxes 20-23 for experiment, and the counterbalance 1 is arranged in the every case 1 in a moving up and down state. The counterbalance 1 moves up and down by a cable 4 that is wound on pulleys 2, 3, and rotary motion of the cable 4 is performed by the rotation of the motor 5. Unbalance of acceleration during rotation caused by various sizes of experimental objects in the boxes 20-23 for experiment leads to up and down vibration of the boxes for experiment. However, the unbalance can be removed by adjusting a position of the counterbalance 1, respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a microgravity rotating device, and absorbs vibration generated due to an imbalance of a weight difference between objects to be subjected to acceleration put in a box in a rotating body for performing experiments in outer space. At the same time, the imbalance of the rotating body is eliminated, and the vibration generated by the object in the box, the vibration generated by each device of the rotating body, the vibration generated by the vortex such as air due to the rotation, or the vibration generated by the bearing is absorbed. Device.

[0002]

2. Description of the Related Art FIG. 12 is a plan view showing an example of a rotary experiment device currently being carried out in space. In FIG. 12, a rotating device 160 such as a motor has four support members 161,
162, 163 and 164 are attached and extend radially. Experimental boxes 170, 171, 172, 173 are attached to the tips of the support members 161 to 164.
And so on. In such a device, an experiment is performed on an object in the experiment boxes 170 to 173 to which a low-speed rotation of about 1 rotation / second is given by the rotating device 160 in a zero gravity state.

[0003] In the rotary type experimental apparatus as described above, the experimental boxes 170 to 173 are provided at the tips of the support members 161 to 164.
Are attached, and the tip portion has a large shape. or,
In the experiment boxes 170 to 173, different types of experimental objects are stored, and the sizes of the experimental objects are variously different. Although the entire apparatus is arranged symmetrically about the rotation axis center, the stored experimental objects are unbalanced. is there. Therefore, the support members 161 to 164 and the experiment boxes 170 to 173 are rotated by rotation.
Vibrates, and when the vibration occurs, the object to be tested is fluctuated or adversely affected. Further, the rotating body including the experimental apparatus may be rotated without knowing the weight.

[0004]

As described above, in the conventional rotating apparatus in space, vibration occurs during rotation, giving vibration to the arm and the experimental box that constitute the rotating body, and adversely affecting the experimental object. Was exerted. In addition, these vibrations propagate to the surrounding environment via the rotating shaft, affect the surrounding space equipment, and also affect the control of the equipment.
Such vibrations can be eliminated in terms of the structural aspects of the device against steady-state vibrations predicted in advance, but it is difficult to respond to changes in the vibration modes that occur arbitrarily, and there is a limit in control. Some sort of measure was desired.

Accordingly, the present invention provides a counterweight for any vibration generated in a rotary experiment apparatus in outer space, and adjusts the position of the counterweight so that the rotation caused by the size of the storage in the experimental box. An object of the present invention is to provide a rotating device capable of eliminating an unbalance amount of a body, actively and passively absorbing vibration generated by the unbalance amount, and reducing an arbitrary vibration mode. is there.

[0006]

The present invention provides the following means (1) to (34) to solve the above-mentioned problems.

(1) A rotating shaft which is installed at the center of the casing and one of both ends or one end is rotatably supported on the casing side via a bearing and one end is connected to a motor. A microgravity rotating device that rotates in outer space, comprising: a plurality of arms each having one end attached to a rotating shaft and extending radially; and an arbitrary number of boxes each attached to a tip of the plurality of arms for receiving an object to which gravity is added. An acceleration sensor attached to a desired measurement point of the rotating device; a counterweight disposed in each of the boxes so as to be vertically movable; driving means for driving each of the counterweights; and the plurality of acceleration sensors. , The weight imbalance generated between the boxes during rotation is detected, and the driving is performed so as to eliminate the imbalance and absorb the vibration. Microgravity rotating device characterized by comprising a control device for adjusting the vertical position of the counterweight by driving means.

(2) Each box is provided with a motorable counterweight and a driving means for the box so that the counterweight is parallel to the arm. The counterweight is parallel to the arm and separated from the rotation axis. The microgravity rotating device according to (1), wherein the microgravity rotating device is arranged so as to be able to reciprocate in both left and right directions.

(3) When the control device detects an unbalance amount and absorbs vibration, the control device slightly moves the counterweight in a direction in which the box does not vibrate at a set frequency, thereby enabling active vibration suppression. The microgravity rotating device according to (1) or (2), wherein

(4) The control device activates the counterweight so as to be able to actively control the vibration and also controls the counterweight so as to eliminate the unbalance of the entire system of the arm and the box even in a static state. (3) The microgravity rotating device according to (3), further having a control function of enabling the motor to operate electrically.

(5) A rotating shaft which is installed at the center of the casing and one of both ends or one end is rotatably supported on the casing side via a bearing and one end is connected to a motor. A microgravity rotating device that rotates in outer space including a plurality of arms each having one end attached to a rotating shaft and extending radially, and a box attached to a tip of each of the plurality of arms, the microgravity rotating device being attached to each of the arms or boxes. Acceleration sensors, a counter weight movably arranged along each of the arms, and singly or plurally disposed in parallel with the arms, driving means for driving the respective counter weights, and a plurality of acceleration sensors. A detection signal is taken, an unbalanced amount of acceleration generated between the boxes during rotation is detected, and the driving unit is driven so as to eliminate the unbalanced amount. Microgravity rotating device characterized by comprising a control device for adjusting the position of the counterweight with.

(6) When the control device detects an unbalance amount and absorbs vibration, the control device minutely moves the counterweight in a direction in which the box does not vibrate at a set frequency, thereby enabling active vibration suppression. (5) The microgravity rotating device according to (5).

(7) The control device activates the counterweight so as to be able to actively control the vibration, and electrically drives the counterweight so as to eliminate the weight imbalance of the entire rotating body even in a static state. The microgravity rotating device according to (6), further having a control function of operating.

(8) A microgravity rotating device characterized by having a required rotational unbalance amount and a vibration absorbing function by combining the configurations described in (1) to (7).

(9) The microgravity rotating device according to any one of (1) to (8), wherein the driving means drives the counterweight with a screw rod screwed into the counterweight.

(10) The microgravity rotating device according to any one of (1) to (8), wherein the driving means drives the counterweight by a cable and a pulley.

(11) The control device detects the vibration of each box from the detection signal taken from the acceleration sensor when controlling the counter weight by the control means, and detects the vibration at a predetermined required value set in advance. The microgravity rotating device according to any one of (1) to (10), wherein the microgravity rotating device is controlled to suppress the vibration to be equal to or less than the required value.

(12) The control device rotates the rotating device by a predetermined amount to measure the weight imbalance amount of the box before the rotation is started, and thereby controls the rotation in the axial direction or an arbitrary direction perpendicular to the axis. (1) to (11), wherein the unbalance amount can be measured based on a relationship between a shaft displacement and an electric power applied to the motor.
The microgravity rotating device according to any one of the above.

(13) In order to measure the weight of the entire rotating section including the box before starting the rotation,
By rotating the rotating device by a predetermined amount, the rotational axis displacement in an axial direction or an arbitrary direction perpendicular to the axis, the acceleration, the displacement and the acceleration of the rotation unit by the relationship between any one of the displacement and acceleration and the amount of power applied to the motor. The microgravity rotating device according to any one of (1) to (11), wherein the weight of the entire system can be measured in a microgravity environment in outer space.

(14) In order to measure the weight of the whole rotating section including the box before starting the rotation,
A predetermined amount of electric power is applied to the motor, and the weight of the entire system of the rotating unit is reduced according to the relationship between the displacement of the rotating shaft in the axial direction or an arbitrary direction perpendicular to the axis and the amount of electric power applied to the motor. The microgravity rotating device according to any one of (1) to (11), wherein measurement can be performed under the following conditions.

(15) The controller can use the measured result to electrically move an arbitrary number of the counterweights before starting rotation to correct the weight imbalance of the entire system before normal rotation. The microgravity rotating device according to any one of (12) to (14), characterized in that:

(16) The microgravity rotating device according to (15), wherein the correction of the unbalance amount is performed a plurality of times to improve the accuracy of the correction of the unbalance amount.

(17) The microgravity rotating device according to any one of (12) to (16), wherein the measurement or the correction of the unbalance amount can be performed by a calibration function.

(18) One box is provided between each box and the arm.
(1) to (17), wherein a link member movable in any one of the degrees of freedom from (1) to (3) is interposed to enable damping in a direction in which the counterweight for performing active damping is moved. ).

(19) One box is provided between each box and the arm.
(1) characterized in that an elastic or plastic member movable in any one of the above-mentioned (3) to (3) degrees of freedom is interposed, so that the counterweight for performing active vibration suppression can be damped in the direction of movement. The microgravity rotating device according to any one of (17).

(20) The counterweight for supporting the space between each of the boxes and the arm by combining the link member according to claim 18 and the elastic or plastic member according to claim 19, and performing the vibration suppression. The microgravity rotating device according to any one of (1) to (17), wherein the microgravity rotating device is capable of suppressing vibration.

(21) As the bearing, any one of an elastically supported bearing, a plastically supported bearing, an electromagnetic bearing, a bearing provided with an air cushion, a spring or damper bearing, a motor type bearing, and a fluid type bearing is used. The microgravity rotating device according to any one of (1) to (20), characterized in that:

(22) The microgravity rotating device according to (21), wherein in the case of the magnetic bearing, the rotating body can be actively damped by changing a magnetic force.

(23) The spring or damper bearing may be any one of a hydraulic type, a fluid type, a motor type, and a pneumatic type, wherein the damping force is actively varied to enable damping. The microgravity rotating device as described.

(24) The rotating body including the rotating shaft, the arm, and the box is rotatably supported on the casing via a plurality of springs capable of adjusting an elastic force, and the control device transmits a signal from the acceleration sensor. (1) The microgravity rotating device according to (1), wherein the elastic force of the spring is adjusted on the basis of the above, so that the rotating body can be damped.

(25) A rotating shaft which is installed at the center of the casing and one of both ends or one end is rotatably supported on the casing side via a bearing and one end is connected to a motor. A microgravity rotating device that rotates in outer space, comprising: a plurality of arms each having one end attached to a rotating shaft and extending radially; and an arbitrary number of boxes each attached to a tip of the plurality of arms for receiving an object to which gravity is added. An acceleration sensor attached to a desired measurement point of the rotating device, a vibrator attached to a desired position of each box, and the detection signals of the plurality of acceleration sensors. A control device for detecting the amount of imbalance of acceleration generated between the boxes, controlling the vibrator so as to eliminate the amount of imbalance and absorb vibration. Microgravity rotating device.

(26) Any one of (1), (5) and (25), wherein the outer periphery of the casing is supported on an external fixed side by a plurality of vibration damping and breaking devices having elasticity. 3. The microgravity rotating device according to 1.).

(27) The experimental box is housed around a rotating body that rotates about the rotation axis and rotates with the rotation axis, instead of an arm attached to the rotation axis, and is driven to rotate. (1), (5), (25),
The microgravity rotating device according to any one of (26).

(28) The vibration damping cut-off device performs active vibration damping which receives vibration transmitted to the casing and absorbs the vibration by changing its elastic coefficient or damping rate or both the elastic coefficient and damping rate. (26) or (2)
7) The microgravity rotating device according to the above.

(29) The vibration damping / interrupting device comprises only a passive spring (26).
Or the microgravity rotating device according to (27).

(30) The microgravity rotating device according to (26) or (27), wherein the vibration damping cutoff device comprises a passive spring and a damper.

(31) The microgravity rotating device according to (26) or (27), wherein the vibration damping cutoff device is made of a passive spring and a material having damping characteristics.

(32) All of the plurality of vibration damping cutoff devices are mounted between the outer periphery of the casing and the fixed side so that the direction of action of the elastic force is inclined with respect to the direction of the rotation axis. The microgravity rotating device according to (26) or (27), characterized in that:

(33) In all of the plurality of vibration damping and blocking devices, the direction of action of the elastic force between the outer periphery of the casing and the fixed side is the same as the direction of the rotation axis or the direction perpendicular to the direction of the rotation axis. The microgravity rotating device according to (26) or (27), wherein the microgravity rotating device is attached so as to be one of them.

(34) The plurality of vibration damping cut-off devices are mounted between the outer periphery of the casing and the fixed side in a direction in which the elastic force acts in a direction inclined with respect to the rotation axis direction, a circumferential direction, and a direction orthogonal to the rotation axis direction. The microgravity rotating device according to (26) or (27), characterized in that the components are mixed.

The present invention comprises the above (1) to (34), and the present invention provides (1) to (3), (5), (6), (1)
In 1), a counter weight that can be moved up and down,
Equipped with counter weights that move parallel to the arm, the weight of each box is different, and when vibration occurs due to the difference in acceleration during rotation, the control device detects the vibration by the signal from the acceleration sensor, The position of the counterweight is adjusted by controlling the driving means so that the unbalance amount during rotation is eliminated. By this adjustment, the unbalance amount generated in the rotating device during rotation is eliminated, and vibration caused by the unbalance amount is also absorbed. Further, (8) of the present invention
As described above, the counterweights are combined in the vertical direction and parallel to the arm, and the movement is controlled to enable effective vibration suppression.

Further, as in (4) and (7) of the present invention, the movement of the counterweight is controlled not only during rotation but also in a static state to adjust the weight imbalance of the arm and the entire box. You can also.

In (9) and (10) of the present invention, the driving means of the counterweight can be realized by a simple mechanism because it is driven by the rotation of the screw rod or the combination of the cable and the pulley, so that the configuration of the apparatus is simplified. You.

In (12) to (17) of the present invention, the control device determines the imbalance of the weight of the box before starting rotation and the weight of the entire rotating part from the relationship between the displacement of the rotating shaft and the amount of electric power applied to the motor. , Can be measured, and the position of the counterweight can be controlled so as to correct the imbalance amount based on the measurement result.

Further, in (18) to (20) of the present invention,
Vibration can be effectively absorbed by using a link member or an elastic or plastic member interposed in the support portion between the box and the arm, or by using a combination of these members. Furthermore, in (21) to (23) of the present invention, any one of elastic, plastic, electromagnetic, air, spring, damper, motor type, and fluid types may be used for the bearing of the rotating shaft. And vibration can be effectively absorbed.

In (24) of the present invention, the entire rotating body is supported by the spring with respect to the casing, and the spring elastic force can be adjusted. When the control device detects the imbalance of the acceleration based on the signal from the acceleration sensor, the elastic force of the corresponding spring is appropriately adjusted, and the vibration can be effectively absorbed by the spring where the vibration occurs.

In (25) of the present invention, the imbalance of the acceleration generated in the box is detected by the acceleration sensor,
Input to the control device, the control device drives the vibrator of the corresponding box to eliminate the imbalance, cancels the imbalance, and can absorb the vibration caused by the imbalance.

In (26) of the present invention, since the entire casing is supported on the external fixed side by the vibration damping cutoff device, the vibration transmitted to the casing, which cannot be controlled by the vibration damping mechanism inside the casing and is transmitted to the surroundings, cannot be controlled. It can be absorbed by the elastic force of the vibration damping cut-off device and not propagated to the outside.

In (27) of the present invention, the experiment box is stored in the storage part of the rotating body that rotates integrally with the rotating shaft, and the plurality of experiment boxes rotate integrally. 5), (25), and (26), the same vibration damping mechanism as that of the present invention is applied to achieve effective vibration damping.

In (28) of the present invention, the vibration of the casing is actively damped by the vibration damping cut-off device, so that the vibration of the casing is effectively absorbed and not transmitted to the outside.
In (29) of the present invention, the vibration damping / interrupting device is a passive spring, (30) is a passive spring and a damper, and (31) is a material having a passive spring and damping characteristics. Therefore, the vibration damping mechanism can be simplified.

In (32) of the present invention, since the vibration damping cutoff device is mounted obliquely with respect to the direction of the rotation axis, it is possible to entirely absorb vibrations generated from any three-dimensional direction. Also, in (33) of the present invention, whether the rotation axis direction and the circumferential direction
Or in the direction orthogonal to the direction, and in (34) of the present invention, the components in the inclined direction, the circumferential direction, and the orthogonal direction are mixed and mounted. Preferred ones of the inventions (32), (33) and (34) can be selected and applied so as to be suitable for the pattern of vibration generated according to the situation.

[0052]

Embodiments of the present invention will be specifically described below with reference to the drawings. 1A and 1B show a microgravity rotating device according to a first embodiment of the present invention, wherein FIG. 1A is a side view, and FIG. 1B is a view taken along the line AA in FIG.
In the figure, reference numeral 10 denotes an outer casing which houses the entire rotating body, and is provided with concave portions 10a and 10b above and below a central portion. The bearing 1 is provided in the upper and lower recesses 10a and 10b.
1, 12 are provided. As the bearings 11 and 12,
Any of a magnetic bearing, a support by a spring, a support by an elastic member, a plastically supported bearing, a bearing with an air cushion, a spring or damper bearing, a motor-type bearing, and a fluid-type bearing may be used. 1 supports both ends in FIG. 1, but supports either end or one side.

Reference numeral 30 denotes the above-mentioned rotary shaft, both ends of which are disposed in the recesses 10a and 10b, respectively, and are connected to the motor 13 in the recess 10b, and both ends of the bearings 11 and 12 or one end as described above. One of the sides of the part is pivotally supported.
Therefore, the rotating shaft 30 is supported by the bearings 11 and 12 without contacting the fixed side of the casing 10. 35
Is an acceleration sensor, which is attached to the upper part of each of the experiment boxes 20 to 23, detects the vibration of each of the experiment boxes 20 to 23, and inputs the signal to a control device as described later. In addition, the acceleration sensor has a rotating shaft 3
0, may be provided on the arms 24 to 27, and may be provided at necessary measurement points.

As shown in FIG. 5B, four arms 24, 25, 26, and 2 are arranged in the X and Y axis directions around the rotation axis.
7 is fixed, extends horizontally and has an experimental box 20 at the tip.
21, 22, 23 are attached. Boxes 28 extending vertically in the shape of a box are attached to the mounting portions of the arms 24 to 27 of the experimental boxes 20 to 23, respectively.
As will be described later, a counterweight 1, pulleys 2, 3, a cable 4, and a motor 5 are provided in the apparatus 8, and the unbalance amount of each of the experimental boxes 20 to 23 is adjusted. In order to absorb the vibration that occurs
In this configuration, the counterweight 1 can be moved up and down.

FIG. 2 shows the experimental boxes 20 to 20 described above.
23 shows the inside of the case arranged vertically, (a) is a top view of the inside, (b) is a side view, and (c) is B in (a).
It is -B sectional drawing. In these figures, the counterweight 1 shows only the experiment box 23, but the other experiment boxes 20 to 22 are the same, and are not shown. In the longitudinal direction of the case 28, rails 6 and 7 are provided on the bottom surface and the upper surface, respectively, as shown in FIG.
7 is engaged with a groove of the counterweight 1 and is disposed so as to be movable up and down. Cable 4 for counterweight 1
Is attached, and the cable 4 is wound around the pulleys 2 and 3,
One of the pair of longitudinal cables is a counterweight 1
The counter weight 1 can be moved up and down along the rails 6 and 7 by rotating the cable 4 through the hole 1a.

A gear 3a is mounted on the upper portion of the pulley 3, meshes with a gear 5a of the motor 5, rotates the pulley 3 when the motor 5 rotates, and rotates the pulley 3
Is moved up and down, and the movement of the cable 4 allows the counterweight 1 to be moved up and down.

The counterweight 1 in the case 28 may be attached to the casing of the experiment boxes 21 to 23, or may be moved up and down on both left and right sides of the box.

In the rotating body according to the first embodiment having such a configuration, an object to be tested, that is, a plant, an animal, or the like is placed in the test boxes 20 to 23, and the motor 13
An experiment is performed to observe the growth state of the plant and the survival state of the plant in space by rotating at a low speed in a space environment by driving the spacecraft. Since the experimental boxes 20 to 23 accommodate such experimental objects having different shapes, sizes, and weights, when rotated, a difference occurs in the acceleration generated due to the imbalance in the weight between the experimental boxes 20 to 23. Vibration occurs between the boxes. This vibration propagates through the arms 24 to 27 to vibrate the rotating shaft 30, and the vibration is transmitted from the bearing to the casing 10, propagates to the external environment, and adversely affects the surroundings.

Therefore, according to the first embodiment of the present invention, when vibration is generated on the rotating shaft 30, the vibration is
5 to detect. The vibration caused by the unbalance amount of the experimental box is a mode in which the experimental box at the end of the arm is vibrated up and down.
To detect. The signal of the sensor 35 is input to the control device as described later, and the control device determines the experimental box in which the vibration has occurred, and determines each of the experimental boxes 20 to 20 that cause the vibration.
In order to adjust the amount of imbalance between the 23, the counterweight 1 is moved downward in an experimental box having a large upward acceleration, and the counterweight is moved upward when the downward acceleration is large.

FIG. 3 is a control system diagram of the system according to the first embodiment of the present invention. In the figure, acceleration signals in the vertical direction from the acceleration sensors 35 on the upper surfaces of the experiment boxes 20 to 23 are amplified by amplifiers 40a to 40d and input to the control device 41. The control device 41 takes in the acceleration signals applied to the experiment boxes 20 to 23 of the experiment device from these input signals. From these signals, the vertical vibration applied to each box is detected, the counterweight 1 in the direction to cancel the vibration corresponding to each box is selected, and the motor 5 of the counterweight 1 is driven to counter the vibration in the opposite direction to the amplitude of the vibration. The weight 1 is moved so as to cancel the vibration.

The control device 41 also controls the driving of the motor 13 to control the rotation and stop of the rotary shaft 30, and also sets the range in which the vibration of the rotary experimental device stored in the storage device 14 in advance is allowed. The control of the counter weight 1 is performed with reference to the data of the required value shown, and the counter weight 1 is moved up and down to perform vibration suppression so that the vibration becomes equal to or less than the required value.

The control device 41 holds in advance relation data between the axial displacement of the rotating shaft 30 or an arbitrary direction perpendicular to the axis and the required electric power of the motor. It can be measured by estimating the amount of imbalance and the weight of the entire system of the rotating body in a microgravity environment. Based on such measurements, the direction of movement of the counterweight,
The amount of movement can be determined.

As described above, in the first embodiment, there is an imbalance between each of the experimental boxes 20 to 23, and when vibration occurs during rotation, the imbalance of acceleration caused during rotation due to the amount of unbalance occurs. The balance can be adjusted by moving the counterweight 1 up and down, and the adjustment can prevent the vertical vibration of each of the experimental boxes 20 to 23 caused by the imbalance.

FIG. 4 shows a microgravity rotating device according to a second embodiment of the present invention. FIG. 4A is a top view of a counterweight, FIG. 4B is a side view, and FIG. It is C sectional drawing. In the second embodiment, the counterweight is screwed into the screw rod and the screw is rotated to move the counterweight up and down. The pulleys 2 and 3, the cable 4, and the motor 5 in the first embodiment are used. Instead of driving the counterweight 1. The other configuration is the same as the configuration of the first embodiment shown in FIGS. 1 to 3, and the description of the common parts will be omitted.

In FIG. 4, rails 6 and 7 are provided on the bottom surface and the upper surface in the case 28, and the counterweight 17 is arranged to be vertically movable by engaging with the upper and lower rails 6 and 7. A screw rod 16 penetrates and is screwed into the counterweight 17. One end of the screw rod 16 is connected to the motor 15 fixed in the case 28, and the other end is supported by a bearing 18. When the motor 15 rotates, the screw rod 16 rotates,
The rotation of the screw rod 16 moves the counterweight 17 up and down. Although the figure shows the counter weight 17 of the experiment box 23, the other experiment boxes 20 to 22 have the same configuration.

In the second embodiment as well, when vibrations occur in the experimental apparatus due to unbalance of the contents of the experimental box during rotation, the counterweight 17 is moved to the screw rod 1.
By performing the adjustment by moving up and down by the rotation of 6, the imbalance amount can be eliminated as in the first embodiment, and the vibration generated due to the imbalance can be suppressed.
Since the control system is the same as that shown in FIG. 3, the description is omitted.

FIG. 5 shows a microgravity rotating device according to a third embodiment of the present invention, wherein (a) is a side view and (b) is (a).
FIG. In the third embodiment, the unbalance generated between the experimental boxes is eliminated by moving the pair of counterweights disposed on the upper and lower surfaces of the arm in the horizontal direction, and the amount of the unbalance generated due to the unbalance is generated. This is a configuration that suppresses vibration that occurs. The other configuration of the rotary experiment apparatus is the same as that of the first embodiment.

In FIG. 5, each arm 24, 25, 2
A screw rod 36a is disposed on the upper part of each of the test rods 6 and 27 in parallel with the arm.
Motor 3 with the other end fixed on arms 24-27
1a. A counter weight 29a is screwed into each screw bar 36a, and the motor 31a rotates, thereby rotating the counter weight 29a as described later.
a moves left and right. Similarly, a screw bar 36b is provided below the arms 24 to 27 in parallel with the arms, and similarly, rotates between the motor 31b and the experiment boxes 20 to 23 to move the counterweight 29b left and right. The acceleration sensor 35 is configured to be attached to the upper part of each of the experiment boxes 20 to 23.

FIG. 6 shows the arrangement of the counterweights according to the third embodiment described above, wherein (a) is a side view,
(B) is an EE arrow view in (a), (c) is (a)
, And (d) is GG in (a).
It is an arrow view. In these figures, screw rods 36a and 36b are disposed in parallel on the upper and lower sides of the arm 27, and one end is connected to each of the motors 31a and 31b, and the other end is supported by bearings 32a and 32b on the experiment box 23 side. . The motors 31a and 31b are fixed to the arm 27. When the motors 31a and 31b rotate, the screw rods 36a and 36b
Rotates, and counterweights 29a and 29b
And the counterweights 29a, 29b can be moved to the left and right.

The counter weights 29a and 29b are
(C) Rail 33 provided on the arm as shown in the figure
The grooves are engaged with the rails 33a and 33b, and are movable along the rails 33a and 33b. Counter weights 29a and 29b that move horizontally along the upper and lower sides of such an arm.
Are arranged on the four arms 24 to 27, respectively, as shown in FIG. 5 (b). When an imbalance occurs between the experimental boxes 20 to 23, a signal from the acceleration sensor 35 is taken into the control device. When vibration occurs due to the difference in acceleration generated during rotation, the eight motors 31a and 31b are controlled to control the counterweight 29 of each arm.
a, 29b are moved left and right to eliminate the imbalance amount. Thereby, vibration caused by the unbalance amount can also be suppressed. The control system described above is the same as that of the first embodiment shown in FIG. 3 and is not shown. FIG. 7 shows a microgravity rotating device according to a fourth embodiment of the present invention. Is a side view of the arrangement of the counterweight,
(B) is an HH arrow view in (a), (c) is (a)
FIG. In the fourth embodiment,
The movement of the counterweight is a movement method using a motor and a pulley, and is a configuration replacing the movement method using a screw bar in the third embodiment shown in FIG. 6, and other configurations are the same as those in the third embodiment. It is.

In FIG. 7, rails 33a and 33b are provided on the upper and lower portions of the arm 27, and as shown in FIG. 7 (c), counterweights 34a and 34b are engaged and arranged so as to be movable left and right. I have. Counter weight 34a,
One of the cables 35a is fixed to 34b, and the other cable 35a is movably inserted into holes provided in the counterweights 34a and 34b as shown in FIG. The cables 35a and 35b are wound around pulleys 37a and 37b fixed on both sides of the arm 27, respectively.
A gear 38a is attached to 7a and 37b. The gears 38a and 38b mesh with the gears of the motors 39a and 39b, and when the motors 39a and 39b rotate, the pulleys 37a and 38b rotate.
When the pulleys 37a and 37b rotate and the pulleys 37a and 37b rotate, the counterweights 34a and 34b move left and right.

In the fourth embodiment having the above-described configuration, similarly to the third embodiment, when there is an imbalance between the test boxes 20 to 23 and the vibration occurs, the acceleration sensors 35 of the respective test boxes 20 to 23 are generated. The motors 39a and 39b are controlled so that the signal from the controller is taken into the control device and the imbalance amount is eliminated, and the counter weights 34a and 34b are controlled.
34b can be adjusted by moving it to the left and right to eliminate the amount of unbalance and to suppress the vibration caused by this.

In the first to fourth embodiments described above, the movement of the counterweight is described as an example in which the rotating device is actively damped while the rotating device is rotating. It is also possible to adjust the weight imbalance of the entire system of the rotating body in a static state by moving the counterweight.

FIG. 8 is a sectional view of a microgravity rotating device according to a fifth embodiment of the present invention. In the fifth embodiment,
Up and down movement of the counterweight in the first and second embodiments,
In the third and fourth embodiments, it has the function of both movement of the counterweight in the direction parallel to the arm, and has a degree of freedom in supporting the experimental box and supporting the rotating shaft, so that vibration can be more reliably absorbed. Next, the overall structure will be described.

In the casing 50, support members 57a,
A motor 52, bearings 54, 56, and a thrust bearing 55 are mounted on the support members 57 a, 57 b, and the rotating shaft 51 is supported by the motor 52, and the rotating shaft 51 is rotated by the motor 52. The bearings 54 and 56 are made of bearings such as magnetism, springs, and air cushion fluid, and elastically support the rotating shaft 51. A rotating body 80 is fixed around the rotating shaft 51. The rotating body 80 corresponds to the arm shown in FIG.
3 is attached. This experiment box has 4
In addition to the individual pieces, if necessary, a plurality of pieces are mounted so as to be symmetrical about the axis. A sensor 53 for detecting displacement due to vibration of the shaft is attached around the rotation shaft 51, and outputs a detection signal to a control device (not shown). This sensor 53
May be attached to the rotating shaft 51, or may be attached to any of the fixed sides around the rotating shaft 51.

A balancer drive motor 42 is attached to each experiment box, and the motor 42 and the rotating body 80
Is mounted with a rail 81. This motor 4
2. Any of the mechanisms shown in FIGS. 6 and 7 can be applied to the configuration of the rail 81. The upper and lower rails 81 have a configuration in which the balancer 43 is movably mounted, and the motor 42 is driven to control the movement of the balancer 43 as in the counterweights of the third and fourth embodiments. This balancer 4
6 and 7 are provided above and below the experimental box, respectively, as in the examples shown in FIGS. 6 and 7, to perform active vibration suppression during rotation, and to move even during standstill to remove weight in a static state. It is possible to eliminate the balance amount, correct the unbalance amount before starting rotation, and perform calibration.

A balancer 44 is provided on the rotating shaft side of the experimental boxes 20 to 23 so as to be vertically movable. The structure of the balancer 44 employs the mechanism shown in FIGS. 2 and 4 in the first and second embodiments, and adjusts the weight imbalance amount of the experimental box rotating or stationary, which occurs in the vertical direction, to prevent vibration. Is what you do.

The experimental boxes 20 to 23 and the rotating body 80 are supported by a link mechanism 45. The link mechanism 45 is a link having only one degree of freedom only in the axial direction, and absorbs vibration between the rotating body 80 and the experimental box. . It should be noted that the link mechanism is not limited to one degree of freedom, but the vibration can be more effectively absorbed if a link having one to three degrees of freedom is used according to the situation of vibration.

The bearings 54 and 56 for supporting the rotating body 80 and the rotating shaft 51, the thrust bearing 55, and the motor 52 are all supported by the casing 50 by supporting members 57a and 57b. A plurality of springs may be provided, and the vibration generated from the rotating system may be absorbed by these passive springs to minimize the vibration propagating to the casing 50 side.

The balancers 43 and 44 may be configured such that one of the balancers is removed and only the balancer 43 or only the balancer 44 is used.

The fifth embodiment described above has the functions of the first to fourth embodiments in combination, and further has the link mechanism 4.
5 or, if necessary, a function of a passive spring can be provided to absorb the imbalance amount and to more effectively absorb the vibration generated during rotation.

FIG. 9 shows a microgravity rotating device according to a sixth embodiment of the present invention. The entire rotating device according to the first to fifth embodiments is further elastically supported on an external fixed side by a vibration damping cutoff device. Since the internal configuration is the same as that of the first to fifth embodiments, their description is omitted.

That is, in FIG. 9, (a) is a side view,
(B) is a plan view, and the rotating body described in the first to fifth embodiments is applied to the casing 10 (including the casing 50 in FIG. 8). The casing 10 is supported by the vibration damping / interrupting device 82 such that the upper and lower four locations (eight locations in total) on the outer periphery of the casing 10 apply elastic force to the fixed side 83 in a direction orthogonal to the rotation axis. An elastic force is applied to the vibration damping cut-off device 82 by a spring body, fluid, air, an elastic member, a magnetic bearing, or the like, and a displacement sensor or the like is incorporated therein, and the elastic body receives vibration from the casing 10. The control is performed by changing the spring constant (elastic coefficient or damping rate or both) so that the displacement is detected and actively absorbed.

It should be noted that, even if the vibration damping cut-off device 82 does not perform active vibration damping but performs passive vibration damping with only an appropriate elastic force instead of the active vibration damping device, the effect of vibration damping is expected. You can do it. Further, a passive spring and a damper may be used in combination, or the passive spring may be made of a material having damping characteristics.

(C) and (d) show other supporting methods.
(C) is a side view, and (d) is a plan view thereof. In this example, the vibration damping / breaking device 82 is supported on the fixed side at eight locations so that an elastic force acts in the vertical direction of the casing 10 (the same direction as the rotation axis). In the examples of (e) and (f),
(G) and (h) in which the casing 10 is supported in four directions (eight in total) by the vibration damping / breaking device 82 so that the elastic force is directed in only one direction in the direction orthogonal to the rotation axis. In this example, the casing 10 is supported by a vibration damping / interrupting device 82 so that elastic force acts in eight oblique directions around the casing 10.

In the above-described sixth embodiment, the four outer peripheral portions (eight in total) of the casing 10 of the first to fifth embodiments are supported on the external fixed side 83 by the vibration damping / breaking device 82. Therefore, in the examples of (a) and (b), the casing 10
When the vibration in the horizontal direction is transmitted to the device, the vibration in the horizontal direction can be effectively absorbed. In the examples of (c) and (d), when vibration in the vertical direction is transmitted to the casing 10,
In the examples of (e) and (f), when the horizontal vibration is applied to the casing 10 in only one direction, the vibration in one direction can be effectively absorbed. Things. Further, in the examples of (g) and (h), it is possible to cope with all the vibrations in the three-dimensional directions of the X, Y, and Z directions, and it is possible to absorb vibrations of the casing 10 in all directions on average.

In the above-described sixth embodiment, an example has been described in which the casing 10 is supported at four upper and lower locations (eight locations). However, the present invention is not limited to four locations. It should just increase or decrease according to the situation of.

Further, the casing 10 may be supported by mixing the support methods by the vibration damping / cutting-off device 82 described with reference to FIG. In this case, depending on the specifications of the casing and the state of the test object, when the casing 10 generates a unique vibration, the same direction as the rotation axis, the direction orthogonal to the rotation axis, the oblique direction, If the most appropriate mounting of the vibration damping / interrupting device 82 is performed at necessary places, it becomes possible to achieve more effective vibration damping.

FIG. 10 shows the structure of a rotating body of a microgravity rotating device according to a seventh embodiment, wherein FIG.
(B) is a sectional view taken along line KK in (a), (c) is (a)
It is LL sectional drawing in. In these structures, although not shown, the horizontal and vertical counter balances described in the first to fifth embodiments can be applied.

In FIGS. 10A and 10B, both ends of the bearing 11 are provided in the casing 60 in the same manner as described with reference to FIG.
A rotating shaft 30 supported by 12 is provided, and the rotating shaft 30 is driven to rotate by a motor 63. A rotating body 61 is attached to the rotating shaft 30, and the rotating body 61 is
It is configured to rotate around the rotation axis 30 within 0.

In the illustrated example, the rotating shaft 61 is
The box storage units 65 for storing the experiment boxes 62 are arranged at eight locations around the center, and the experiment boxes 62 are stored in these eight box storage units 65 and are configured to rotate integrally. In addition, each experiment box 62
Although not shown, has an opening so that it can be inserted and removed from the upper part of the rotating body 61.

In the structure of the seventh embodiment, when a counter balancer that is driven in the vertical and horizontal directions as in the first to fifth embodiments is mounted, there is no arm for supporting the experiment box. What is necessary is just to attach similarly to the corresponding position of the rotating body 61 in which an experiment box is stored.

In the seventh embodiment, further,
As shown in (c), a module 64A containing electrical components is provided in the bottom wall (or the wall surface) of the rotating body 61.
64B, 64C and 64D are provided. These electrical components are shown in the example of four in the illustrated example, but the necessary number may be provided as needed.

In the seventh embodiment described above,
By applying the same counterweight as in the first to fifth embodiments, an effective vibration-damping effect can be obtained by the vibration-damping mechanism, and a casing 60 as in the sixth embodiment shown in FIG.
The vibration applied to the casing 60 can be effectively absorbed by applying the vibration damping / blocking device 82.

Although not shown, as an eighth embodiment, a vibrator is provided instead of the counterweights 1, 17, 29a, 29b, 34a, and 34b in the first to fifth embodiments. The shaker is installed at a desired position on the rotating shaft, arm and box, and the controller drives the shaker based on the signal from the acceleration sensor to absorb the vibration of the rotating body consisting of the rotating shaft, arm and experimental box The same effect can be obtained even if the configuration is used. In addition to incorporating a vibrator into the counterweight to control the movement of the counterweight,
If the vibration exciter is also driven to control the vibration, more accurate vibration control can be achieved.

In FIG. 8, although not shown in detail, when a passive spring is provided, the passive spring is operated as an active spring, and an acceleration sensor is provided near the active spring. With such a configuration, a signal from the acceleration sensor is taken into the control device, and when the vibration is equal to or more than a predetermined value, the corresponding active spring is operated to adjust the elastic force and to suppress the vibration. High system can be damped. This control system is basically similar to the system diagram shown in FIG.
Detailed description is omitted.

In the first to fifth embodiments of the present invention, the counterweights 1 and 17 that move vertically and the counterweights 29a, 29b, and 34a that move in the direction parallel to the arms are used as vibration damping means. 34b, a passive spring and an active spring are used. Therefore, although not shown, a configuration in which the control device has the following functions is also provided as a ninth embodiment of the present invention.

That is, based on the signal from the acceleration sensor, the magnitude and location of the signal are checked, the most appropriate position of the vibration damping means is selected from the above, or a plurality of appropriate vibration damping means are combined. It is configured to be controlled. According to such a ninth embodiment, more accurate vibration suppression can be achieved.

FIG. 11 shows the first to ninth embodiments described above.
It is a figure which shows the required value of the vibration of a rotary type experimental apparatus in a form, and a vibration suppression effect, and (a) figure is an example in the case of the vibration of the rotating shaft 30 which has only the natural vibration of a single natural value (X). ,
The vibration (XA) equal to or smaller than the required value (Y) is damped by using the rotational body vibration mismatch absorbing device using the counterweight of the present invention with respect to the required value (Y).

FIG. 10B shows the vibration damping effect when the pattern of the natural frequency changes from (X ₁ ) to (X ₂ ). This is the case where the vibration characteristics of the experimental box change due to the growth of plants in the experimental box. In this case as well, by applying the rotating body vibration mismatch absorbing device of the present invention, the natural vibration (X ₁ ) is converted into a vibration pattern (XA) equal to or smaller than the required value (Y), and the natural vibration (X ₂ ) To (XB) below the required value (Y),
Each can absorb vibration and dampen it.

[0101]

The microgravity rotating device of the present invention comprises the above items (1) to (34).
In (3), (5), (6), and (11), a counterweight that can move in the vertical direction and a counterweight that moves in parallel with the arm are provided, and the weight of each box is different. When vibration occurs due to a difference in acceleration, the control device detects the vibration based on a signal from the acceleration sensor and controls the driving means to adjust the position of the counterweight so that the amount of unbalance during rotation disappears. By this adjustment, the unbalance amount generated in the rotating device during rotation is eliminated, and vibration caused by the unbalance amount is also absorbed. Also, as in (8) of the present invention, the counterweight is combined with a counterweight in the vertical direction and parallel to the arm,
By controlling the movement, effective vibration suppression is also possible.

Also, as in (4) and (7) of the present invention, not only during rotation but also in a static state, the movement of the counterweight is controlled to adjust the weight imbalance of the arm and the entire box. You can also.

In the embodiments (9) and (10) of the present invention, the driving means of the counterweight can be realized by a simple mechanism since the driving of the counterweight is performed by the rotation of the screw rod or the combination of the cable and the pulley, so that the configuration of the apparatus is simplified. You.

In (12) to (17) of the present invention, the control device determines the imbalance of the weight of the box before starting rotation and the weight of the entire rotating part from the relationship between the displacement of the rotating shaft and the amount of electric power applied to the motor. , Can be measured, and the position of the counterweight can be controlled so as to correct the imbalance amount based on the measurement result.

Further, in (18) to (20) of the present invention,
Vibration can be effectively absorbed by using a link member or an elastic or plastic member in the support between the box and the arm, or by using a combination of these members. Further, in (21) to (23) of the present invention, any one of elastic, plastic, electromagnetic, air, spring, damper, motor type, and fluid types may be used for the bearing of the rotating shaft. And vibration can be effectively absorbed.

In (24) of the present invention, the entire rotating body is supported by the spring with respect to the casing, and the elasticity of the spring can be adjusted. When the control device detects the imbalance of the acceleration based on the signal from the acceleration sensor, the elastic force of the corresponding spring is appropriately adjusted, and the vibration at the location where the vibration occurs can be effectively absorbed.

In (25) of the present invention, the imbalance of the acceleration generated in the box is detected by the acceleration sensor.
Input to the control device, the control device drives the vibrator of the corresponding box to eliminate the imbalance, cancels the imbalance, and can absorb the vibration caused by the imbalance.

In (26) of the present invention, since the entire casing is supported by the external fixed portion by the vibration damping / breaking device, the vibration cannot be controlled by the vibration damping mechanism inside the casing, and the vibration transmitted to the casing by leaking to the casing is suppressed. It can be absorbed by the elastic force of the vibration isolator and not propagated to the outside.

In (27) of the present invention, the experiment box is stored in a storage part of a rotating body that rotates integrally with the rotating shaft, and a plurality of experiment boxes rotate integrally. 5), (25), and (26), the same vibration damping mechanism as that of the present invention is applied to achieve effective vibration damping.

According to (28) of the present invention, since the vibration damping cut-off device actively damps the vibration of the casing, the vibration of the casing is effectively absorbed and is not transmitted to the outside.
Further, in (29) of the present invention, the vibration damping cut-off device is a passive spring, (30) is a passive spring and a damper, (31) is a passive spring and a material having damping characteristics, and the casing is formed by a simple mechanism. Since small vibrations can be absorbed, the vibration damping mechanism can be simplified.

In (32) of the present invention, since the vibration damping / breaking device is mounted obliquely with respect to the direction of the rotation axis, it is possible to absorb vibrations originating from any three-dimensional direction as a whole. Further, in (33) of the present invention, it is attached in either the circumferential direction or the circumferential direction or the direction orthogonal to the rotation axis direction, and in (34) of the present invention, those in the inclined direction, circumferential direction and orthogonal direction are mixed. The inventions of (32), (33) and (34) are preferably selected and applied so as to be suitable for the specification of the rotating device and the vibration pattern generated according to the situation of the experiment. it can.

[Brief description of the drawings]

1A and 1B show a microgravity rotating device according to a first embodiment of the present invention, wherein FIG. 1A is a side view, and FIG.
FIG.

2A and 2B show an arrangement of counterweights according to the first embodiment of the present invention, wherein FIG. 2A is a top view, FIG.
(C) is a BB sectional view in (a).

FIG. 3 is a system diagram of control according to the first embodiment of the present invention.

FIG. 4 shows an arrangement of counterweights of a microgravity rotating device according to a second embodiment of the present invention, where (a) is a top view,
(B) is a side view, (c) is a CC sectional view in (a).

5A and 5B show a microgravity rotating device according to a third embodiment of the present invention, wherein FIG. 5A is a side view, and FIG.
FIG.

FIGS. 6A and 6B show an arrangement of counter weights according to a third embodiment of the present invention, wherein FIG. 6A is a side view, FIG. 6B is a view taken along the line EE in FIG. Arrow view, (d) G
FIG.

7A and 7B show a microgravity rotating device according to a fourth embodiment of the present invention, wherein FIG. 7A is a side view, and FIG.
-H arrow view, (c) is a JJ arrow view.

FIG. 8 is a sectional view of a microgravity rotating device according to a fifth embodiment of the present invention.

FIGS. 9A and 9B show various support forms of the microgravity rotating device according to the sixth embodiment of the present invention, wherein FIGS.
(G) is a side view of the casing showing different support by the vibration damping and isolating device, (b) of (a), (f) of (e), (d) of (c), and (h). (G) is a corresponding plan view.

10A and 10B show a microgravity rotating device according to a seventh embodiment of the present invention, wherein FIG. 10A is an internal side view, FIG. 10B is a sectional view taken along line KK in FIG. 10A, and FIG. It is LL sectional drawing in ().

11A and 11B show the vibration damping effect of the microgravity rotator vibration mismatch absorber according to the first to ninth embodiments of the present invention, and FIG.
Shows vibration suppression of a single natural vibration pattern, and (b) shows vibration suppression when the natural vibration pattern changes.

FIG. 12 is a plan view of a conventional rotary experiment apparatus in space.

[Explanation of symbols]

 1, 17, 29a, 29b Counterweight 2, 3 Pulley 4 Cable 5, 13, 15, 31a, 31b Motor 6, 7, 33a, 33b Rail 10, 50, 60 Casing 11, 12 Elastic bearing 14 Storage device 16, 36a , 36b Screw rod 20-23, 62 Experimental box 24-27 Arm 28 Case 30, 51 Rotary axis 34a, 34b Counter weight 35 Acceleration sensor 41 Controller 42 Balancer drive motor 43, 44 Balancer 45 Link mechanism 52, 63 Motor 53 Sensor 54, 56 Bearing 55 Thrust bearing 57a, 57b Supporting member 61, 80 Rotating body 64 Module 65 Box storage section 81 Rail 82 Vibration suppression shut-off device 83 Fixed side

Claims (34)

[Claims] 1. A rotating shaft, which is installed at a central portion in a casing, and one of both ends or one end of one end is rotatably supported on a casing side via a bearing, and one end is connected to a motor. What is claimed is: 1. A microgravity rotating device rotating in outer space, comprising: a plurality of radially extending arms each having one end attached to a shaft; ,
An acceleration sensor attached to a desired measurement point of the rotating device, a counterweight disposed vertically movably in each of the boxes, a driving unit for driving the counterweight, and detection of the plurality of acceleration sensors A signal is fetched, and an imbalance amount of acceleration generated between the boxes during rotation is detected, and the driving means is driven so as to eliminate the imbalance amount and absorb the vibration, and adjust the vertical position of the counterweight. A microgravity rotating device comprising a control device. 2. An electric counterweight and a driving means for the counterweight are mounted on each of the boxes so as to be parallel to the arm, and the counterweight is parallel to the arm and separated from the rotation axis by the same rotation axis. The microgravity rotating device according to claim 1, wherein the microgravity rotating device is arranged so as to be able to reciprocate in both the left and right directions. 3. The control device, when detecting an imbalance amount and absorbing vibration, enables the counterweight to slightly move in a direction in which the box does not vibrate at a set frequency, thereby enabling active vibration suppression. The microgravity rotating device according to claim 1 or 2, wherein the rotation is performed. 4. The control device activates the counterweight so as to be able to actively control the vibration, and controls the counterweight so as to eliminate the unbalance amount of the entire system of the arm and the box even in a static state. 4. The microgravity rotating device according to claim 3, further comprising a control function for enabling electric operation. 5. A rotary shaft installed at a central portion in the casing and one of both ends or one end of one end is rotatably supported on the casing side via a bearing, and one end is connected to a motor. A microgravity rotating device that rotates in outer space including a plurality of arms each having one end attached to a shaft and extending radially, and a box attached to each of the ends of the plurality of arms, the device being attached to each of the arms or the boxes. An acceleration sensor, one or more counterweights movable along each of the arms and arranged in parallel with the arm, driving means for driving the respective counterweights, and detection of the plurality of acceleration sensors A signal is taken, and the driving means is driven so as to detect an unbalance amount of acceleration generated between the boxes during rotation and eliminate the unbalance amount. A microgravity rotating device comprising: a control device for adjusting a position of the counterweight. 6. The control device, when detecting an imbalance amount and absorbing vibration, enables the counterweight to slightly move in a direction in which the box does not vibrate at a set frequency, thereby enabling active vibration suppression. The microgravity rotation device according to claim 5, wherein the rotation is performed. 7. The control device activates the counterweight so as to be able to actively control the vibration, and also electrically operates the counterweight so as to eliminate the weight imbalance of the entire rotating body even in a static state. 7. The microgravity rotating device according to claim 6, further comprising a control function of: 8. A microgravity rotating device having a necessary rotational imbalance amount and a vibration absorbing function by combining the configurations of claim 1 to 7. 9. The microgravity rotating device according to claim 1, wherein the driving means drives the counterweight with a screw rod screwed into the counterweight. 10. The microgravity rotating device according to claim 1, wherein the driving means drives the counterweight by a cable and a pulley. 11. The control device detects vibration of each of the boxes from a detection signal taken from the acceleration sensor when controlling the counterweight by a control means, and detects the vibration with a predetermined required value set in advance. The microgravity rotating device according to any one of claims 1 to 10, wherein the control is performed such that the vibration is suppressed to be equal to or less than the required value. 12. The control device according to claim 1, wherein the control device rotates the rotation device by a predetermined amount to measure a weight imbalance amount of the box before the rotation is started. The microgravity rotating device according to any one of claims 1 to 11, wherein the imbalance amount can be measured based on a relationship between a displacement and an amount of electric power applied to the motor. 13. The control device according to claim 1, further comprising: rotating the rotating device by a predetermined amount to measure the weight of the entire rotating unit including the box before starting rotation. Rotational axis displacement, acceleration, the relationship between any one of acceleration and displacement and the amount of electric power applied to the motor made it possible to measure the weight of the entire system of the rotating part in a microgravity environment in outer space. The microgravity rotating device according to any one of claims 1 to 11, wherein: 14. The control device according to claim 1, further comprising: applying a predetermined amount of electric power to the motor to measure the weight of the entire rotating unit including the box before starting the rotation. 12. The system according to claim 1, wherein the weight of the entire system of the rotating unit can be measured in a microgravity environment in outer space by a relationship between an axial displacement and an amount of electric power applied to the motor. A microgravity rotating device according to any one of the above. 15. The control device according to claim 1, wherein the measured result is used to electrically move an arbitrary number of the counterweights before the rotation is started, so that the weight imbalance amount of the entire system can be corrected before the normal rotation. 15. The method according to claim 12, wherein:
The microgravity rotating device according to any one of the above. 16. The microgravity rotating device according to claim 15, wherein the correction of the unbalance amount is performed a plurality of times to improve the accuracy of the correction of the unbalance amount. 17. The microgravity rotation device according to claim 12, wherein the measurement or the correction of the unbalance amount can be performed by a calibration function. 18. A link member movable between one and three degrees of freedom between each of the boxes and the arm, and damping is also performed in a direction in which the counterweight for performing active vibration suppression is moved. 18. The microgravity rotation device according to claim 1, wherein the rotation is enabled. 19. An elastic or plastic member movable between one and three degrees of freedom is interposed between each box and the arm, and the counterweight for performing active vibration suppression is also moved in a direction in which the counterweight is moved. The microgravity rotating device according to any one of claims 1 to 17, wherein the microgravity rotating device is capable of damping. 20. A combination of the link member according to claim 18 and the elastic or plastic member according to claim 19 to support between each of the boxes and the arm, and to provide the counterweight for performing the vibration suppression. The microgravity rotating device according to any one of claims 1 to 17, wherein the microgravity rotating device is capable of damping. 21. An elastic bearing, a plastically supported bearing, an electromagnetic bearing, a bearing provided with an air cushion, a spring or damper bearing, a motor-type bearing, or a fluid-type bearing is used as the bearing. 3. The method according to claim 1, wherein
0. The microgravity rotating device according to any one of 0. 22. The microgravity rotating device according to claim 21, wherein in the case of the magnetic bearing, the rotating body can be actively damped by changing a magnetic force. 23. The spring or damper bearing according to claim 21, wherein the spring or damper bearing is any one of a hydraulic type, a fluid type, a motor type, and a pneumatic type, and a damping force is actively changed to enable damping. Microgravity rotating device. 24. A rotating body comprising the rotating shaft, the arm and the box is rotatably supported on the casing via a plurality of elastic force adjustable springs, and the control device receives a signal from the acceleration sensor in response to a signal from the acceleration sensor. 2. The microgravity rotating device according to claim 1, wherein the elastic force of the spring is adjusted based on the rotation so that the rotating body can be damped. 25. A rotating shaft installed at a central portion in the casing, one of both ends or one end of the one end is rotatably supported on the casing side via a bearing, and one end is connected to a motor. A microgravity rotating device rotating in outer space, comprising: a plurality of arms each having one end attached to a shaft and extending radially; and an arbitrary number of boxes each of which is attached to a tip of the plurality of arms and for receiving an object to which gravity is added. An acceleration sensor attached to a desired measurement point of the rotating device; a vibrator attached to a desired position of each box; and a detection signal of the plurality of acceleration sensors. A control device for controlling the vibrator so as to detect an imbalance amount of acceleration occurring therebetween, cancel the imbalance amount, and absorb vibration. Gravity rotation device. 26. The microscopic device according to claim 1, wherein an outer periphery of the casing is supported on an external fixed side by a plurality of vibration damping / breaking devices having an elastic force. Gravity rotation device. 27. The experiment box is housed in a rotating body that rotates about the rotation axis and rotates together with the rotation axis, instead of an arm attached to the rotation axis, and is driven to rotate. Item 30. The microgravity rotating device according to any one of Items 1, 5, 25, and 26. 28. The vibration damping cutoff device performs active vibration damping that receives vibration transmitted to the casing and absorbs the vibration by changing its elastic coefficient or damping rate or both of the elastic coefficient and damping rate. 28. The microgravity rotating device according to claim 26 or 27. 29. The microgravity rotation device according to claim 26, wherein the vibration damping / interrupting device comprises only a passive spring. 30. The microgravity rotating device according to claim 26, wherein the vibration damping cutoff device comprises a passive spring and a damper. 31. The microgravity rotation device according to claim 26, wherein the vibration damping cutoff device is made of a passive spring and a material having a damping characteristic. 32. All of the plurality of vibration damping and blocking devices are mounted between the outer periphery of the casing and the fixed side so that the direction of action of the elastic force is inclined with respect to the direction of the rotation axis. 28. The microgravity rotating device according to claim 26 or 27. 33. An apparatus according to claim 33, wherein the direction of action of the elastic force between the outer periphery of the casing and the fixed side is the same as the direction of the rotation axis or the direction perpendicular to the rotation axis. 28. The microgravity rotating device according to claim 26, wherein the microgravity rotating device is attached so as to be flexible. 34. The plurality of vibration damping cut-off devices are mounted between an outer periphery of the casing and the fixed side in a direction in which the elastic force acts in a direction inclined with respect to the rotation axis direction, a circumferential direction, and a direction orthogonal to the rotation axis direction. 28. The microgravity rotator according to claim 26, wherein the rotating parts are mixed.