JP2018141770A5 - - Google Patents

Description

Testing equipment

The present invention relates to a test apparatus that can apply a shock having a predetermined waveform to a specimen .

  Crash tests have been performed to evaluate the safety of occupants during a car collision. In the collision test, a real vehicle collision test (destructive test) in which a real vehicle collides with a barrier at a predetermined speed, and an impact (acceleration pulse) similar to that in a real vehicle collision is applied to a sled (cart) to which a test piece is attached. There is a crash simulation test (thread test).

  Patent Literature 1 describes an apparatus for performing a collision simulation test. The device described in Patent Document 1 discharges a piston by hydraulic pressure accumulated in an accumulator of a firing device in a state where the tip of the piston of the firing device is in contact with a front end of a sled supported movably in a horizontal direction. The non-destructive reproduction of the impact acting on the specimen attached to the thread.

JP 2012-2699A

  The device described in Patent Literature 1 can adjust the degree of impact to the same level as the collision of an actual vehicle by setting the launch stroke of the piston, but cannot control the waveform of the acceleration. Therefore, a highly accurate test could not be performed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a test apparatus capable of applying a controlled waveform impact to a specimen .

  A test apparatus according to an embodiment of the present invention includes a table to which a specimen is attached, a table movable in a predetermined direction, a drive module capable of generating power for driving the table, and a toothed belt capable of transmitting power. And a control unit capable of controlling the drive module, wherein the control unit is capable of controlling the drive module so as to generate an impact to be applied to the specimen, and the toothed belt detects the impact generated by the drive module. Communicate to the table.

  In the above test apparatus, a configuration may be adopted in which a pair of toothed pulleys around which a toothed belt is wound are provided, and at least one of the pair of toothed pulleys is a drive pulley driven by a drive module.

  In the above test apparatus, a belt clamp for releasably fixing the toothed belt to the table is provided, and the toothed belt is fixed to the table at two fixed positions separated in the length direction, and at least one fixed position. In the above, the effective length of the toothed belt may be fixed so as to be adjustable.

  In the above-described test apparatus, the drive module may be configured to include an electric motor.

  In the above test apparatus, the moment of inertia of the motor is 0.02 kg · m ² Or less or 0.01 kg · m ² The following configuration may be adopted.

  In the above-described test apparatus, one or more drive modules may be provided with a plurality of electric motors, and the control unit may be configured to be able to control the plurality of electric motors synchronously using optical fiber communication.

  In the above test apparatus, the drive module may include a shaft driven by an electric motor, and a bearing rotatably supporting the shaft, and the drive pulley may be attached to the shaft.

  In the above test apparatus, the drive module may include a pair of electric motors, and both ends of the shaft may be connected to the pair of electric motors.

  In the above-described test apparatus, a configuration is provided in which a plurality of toothed belts are arranged in parallel with each other, an impact can be transmitted to a table by the plurality of toothed belts, and the effective lengths of the plurality of toothed belts are the same. Is also good.

  In the above-described test apparatus, a configuration may be employed in which a plurality of drive modules for driving the plurality of toothed belts are provided, and at least two of the plurality of drive modules are arranged in the axial direction of the drive pulley.

  In the above-described test apparatus, a plurality of drive modules for driving the plurality of toothed belts may be provided, and at least two of the plurality of drive modules may be arranged in a predetermined direction.

  In the above test apparatus, the drive module may include two drive pulleys that respectively drive two of the plurality of toothed belts, and the two drive pulleys may be attached to one shaft.

  In the above test apparatus, a plurality of drive modules are provided, each of the pair of toothed pulleys is a drive pulley, and the plurality of drive modules is a first drive module that drives one of the pair of toothed pulleys; And a second drive module that drives the other of the toothed pulleys.

  In the above-described test apparatus, a pusher that pushes the table in a predetermined direction, a linear guide that supports the table and the pusher so as to be movable in a predetermined direction, and an impact generating unit that generates an impact applied to the specimen by a collision with the table. The toothed belt is fixable to each of the table and the pusher, and is releasably fixed to either the table or the pusher. When the toothed belt is fixed to the table, the drive module is An impact is applied to the specimen, and the impact is transmitted to the table by a toothed belt.When the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating portion to provide the impact. It is good also as a structure which produces the impact given to a specimen.

  In the above-described test apparatus, the impact generating unit includes a fixed unit, an impact unit disposed at a position where the table can collide, and a buffer unit configured to reduce an impact between the fixed unit and the impact unit. It may be.

  In the above-described test apparatus, the shock-absorbing portion is arranged such that the movable frame attached to the impact portion and the movable frame are interposed therebetween in a predetermined direction, and is attached to the fixed portion, a pair of arms, and the movable frame. And a spring interposed between each arm.

  In the above test apparatus, the table includes a first collision column protruding toward the impact generation unit, and the impact generation unit includes a second collision column protruding toward the first collision column. At least one of the second collision pillars may be a shock absorber provided with at least one of a damper and a spring.

  In the above test apparatus, the linear guide includes a rail extending in a predetermined direction, and a carriage that can travel on the rail via a rolling element, wherein the carriage is a first carriage attached to a table, and a pusher. And a second carriage attached to the second carriage.

  In the above-described test apparatus, a linear guide that supports the table so as to be movable in a predetermined direction is provided.The linear guide includes a rail extending in a predetermined direction, and a carriage that can run on the rail via a rolling element. A configuration may be adopted in which the carriage is fixed to the table.

  In the above test apparatus, the rolling element may be formed of a ceramic material containing any of silicon nitride, silicon carbide, and zirconia.

  In the above test apparatus, the toothed belt may include a main body formed of an elastomer, and the elastomer may include any of hard polyurethane and hydrogenated acrylonitrile butadiene rubber.

  In the above-described test apparatus, the toothed belt may be provided with a carbon core.

  In the above-described test apparatus, the control unit may be configured to be able to control the drive module so as to apply the same degree of impact to the table as in a vehicle collision.

According to the embodiment of the present invention, a test apparatus capable of applying a controlled waveform impact to a specimen is realized.

It is a perspective view of a collision simulation test device concerning a 1st embodiment of the present invention. It is a top view of a collision simulation test device concerning a 1st embodiment of the present invention. It is a front view of a collision simulation test device concerning a 1st embodiment of the present invention. It is a side view of a collision simulation test device concerning a 1st embodiment of the present invention. It is a perspective view showing the internal structure of the test part of a 1st embodiment of the present invention. FIG. 2 is a side view of the drive module according to the first embodiment of the present invention. It is an exploded perspective view of a belt clamp of a first embodiment of the present invention. It is a structural diagram of a toothed belt. It is a block diagram showing a schematic structure of a control system. 9 is a graph illustrating an example of an acceleration waveform. It is a perspective view of a collision simulation test device concerning a 2nd embodiment of the present invention. It is a top view of a collision simulation test device concerning a 2nd embodiment of the present invention. It is a front view of a collision simulation test device concerning a 2nd embodiment of the present invention. It is a side view of a collision simulation test device concerning a 2nd embodiment of the present invention. It is a perspective view of a collision simulation test device concerning a 3rd embodiment of the present invention. It is a side view of the servo motor unit of a 4th embodiment of the present invention. It is a sectional side view of the servomotor of a 5th embodiment of the present invention. It is a top view of a collision simulation test device concerning a 6th embodiment of the present invention. It is a top view of a collision simulation test device concerning a 7th embodiment of the present invention. It is a front view of a collision simulation test device concerning a 7th embodiment of the present invention. It is a side view of a collision simulation test device concerning a 7th embodiment of the present invention. It is a side view of a collision simulation test device concerning a 7th embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding components will be denoted by the same or corresponding reference numerals, and redundant description will be omitted.

(1st Embodiment)
FIG. 1 is a perspective view of a collision simulation test apparatus 1000 according to the first embodiment of the present invention. 2, 3, and 4 are a plan view, a front view, and a side view of the collision simulation test apparatus 1000, respectively.

  The collision simulation test apparatus 1000 is an apparatus that reproduces an impact applied to a car or the like, a passenger, equipment such as a car when a car or the like (including a railway vehicle, an aircraft, and a ship) collides.

  The collision simulation test apparatus 1000 includes a table 1240 that looks like a frame of an automobile. To the table 1240, a test piece such as a seat on which an occupant dummy is placed or a high-voltage battery for an electric vehicle is attached. When the table 1240 is driven at a set acceleration (for example, an acceleration corresponding to an impact applied to a vehicle frame at the time of a collision), the same impact as that at the time of the actual collision is applied to the specimen attached to the table 1240. At this time, the safety of the occupant is evaluated based on the damage received by the specimen (or the damage predicted from the measurement result of the acceleration sensor or the like mounted on the specimen).

  The collision simulation test apparatus 1000 according to the present embodiment is configured to be able to drive the table 1240 only in one horizontal direction. As shown by the coordinate axes in FIG. 1, the movable direction of the table 1240 is defined as an X-axis direction, a horizontal direction perpendicular to the X-axis direction is defined as a Y-axis direction, and a vertical direction is defined as a Z-axis direction. Also, based on the traveling direction of the vehicle to be simulated, the left direction (X-axis positive direction) in FIG. 2 is forward, the right direction (X-axis negative direction) is backward, and the upward direction (Y-axis negative direction) is rightward and downward ( The Y axis positive direction) is referred to as left. The X-axis direction in which the table 1240 is driven is referred to as a “drive direction”. In the crash simulation test, a large acceleration is applied to the table 1240 in a direction opposite to the traveling direction of the vehicle (that is, backward).

  The collision simulation test apparatus 1000 includes a test section 1200 having a table 1240, a front drive section 1300 and a rear drive section 1400 for driving the table 1240, and translational movement generated by each of the drive sections 1300 and 1400 in the X-axis direction. It is provided with four belt mechanisms 1100 (belt mechanisms 1100a, 1100b, 1100c, and 1100d) for converting the motion into the motion and transmitting the motion to the table 1240, and a control system 1000a (FIG. 9).

  The test unit 1200 is disposed at the center of the collision simulation test apparatus 1000 in the X-axis direction, and the front drive unit 1300 and the rear drive unit 1400 are disposed adjacent to the front and rear of the test unit 1200, respectively.

  FIG. 5 is a perspective view showing the structure of the test unit 1200 and the belt mechanism 1100. For convenience of explanation, FIG. 5 does not show a table 1240 and a base block 1210 (described later), which are components of the test unit 1200.

  In addition to the table 1240, the test section 1200 includes a base block 1210 (FIG. 1), a frame 1220 mounted on the base block 1210, and a pair of linear guideways 1230 (hereinafter, “linear”) mounted on the frame 1220. Guide 1230 ”). The table 1240 is supported by the pair of linear guides 1230 so as to be movable only in the X-axis direction (drive direction).

  As shown in FIG. 5, the frame 1220 has a pair of left and right half frames (right frame 1220R and left frame 1220L) connected by a plurality of connection bars 1220C extending in the Y-axis direction. Since the right frame 1220R and the left frame 1220L have the same structure (strictly, a mirror image relationship), only the left frame 1220L will be described in detail.

  The left frame 1220L includes a mounting portion 1221 and a rail supporting portion 1222 extending in the X-axis direction, and three connecting portions 1223 (1223a, 1223b, 1223c) extending in the Z-axis direction connecting the mounting portion 1221 and the rail supporting portion 1222, respectively. have. As shown in FIG. 1, the length of the mounting portion 1221 is substantially equal to the length of the base block 1210 in the X-axis direction, and the entire length is supported by the base block 1210. In addition, rear ends of the mounting portion 1221 and the rail support portion 1222 are connected to each other by the connecting portion 1223a.

  The rail support portion 1222 is longer than the mounting portion 1221 (that is, longer than the base block 1210), and has a distal end projecting forward from the base block 1210 and arranged above the front drive unit 1300.

  The linear guide 1230 includes a rail 1231 extending in the X-axis direction, and two carriages 1232 running on the rail 1231 via rolling elements. The rails 1231 of the pair of linear guides 1230 are fixed to the upper surfaces of the rail support portions 1222 of the right frame 1220R and the left frame 1220L, respectively. The length of the rail 1231 is substantially equal to the length of the rail support 1222, and the entire length of the rail 1231 is supported by the rail support 1222. The upper surface of the carriage 1232 is provided with a plurality of mounting holes (screw holes), and the table 1240 is provided with a plurality of through holes corresponding to the mounting holes of the carriage 1232. The carriage 1232 is fastened to the table 1240 by fitting a bolt (not shown) passed through each through hole of the table 1240 into each mounting hole of the carriage 1232. A carriage (sled) is constituted by the table 1240 and the four carriages 1232.

  The table 1240 has a mounting structure such as a screw hole for mounting a test piece (not shown) such as a sheet, and the test piece can be directly mounted on the table 1240. This eliminates the need for a member such as a mounting plate for mounting the specimen, thereby making it possible to reduce the weight of the movable part to which the impact is applied, and to apply a high-fidelity impact to high frequency components to the specimen. It is possible.

  As shown in FIG. 5, each belt mechanism 1100 includes a toothed belt 1120, a pair of toothed pulleys around which the toothed belt 1120 is wound (a first pulley 1140, a second pulley 1160), and a toothed belt 1120. Is provided with a pair of belt clamps 1180 for fixing the belt clamp 1180 to the table 1240.

  Four toothed belts 1120 (1120a, 1120b, 1120c, 1120d) are arranged in parallel between the right frame 1220R and the left frame 1220L. Each of the toothed belts 1120a to 1120d is fixed to the table 1240 by a belt clamp 1180 at two locations in the length direction. A specific configuration for fixing the toothed belt 1120 to the table 1240 will be described later.

  As shown in FIG. 2, the front drive unit 1300 includes a base block 1310 and four drive modules 1320 (1320a, 1320b, 1320c, 1320d) installed on the base block 1310. The rear drive unit 1400 includes a base block 1410 and four drive modules 1420 (1420a, 1420b, 1420c, 1420d) installed on the base block 1410. The drive modules 1320a to 1320d and 1420a to 1420d have a basic configuration in common, though there are slight differences in installation positions and orientations, component lengths and arrangement intervals.

  Further, the basic configurations of the front drive unit 1300 and the rear drive unit 1400 are also common. Therefore, the configuration of the drive module 1320 of the front drive unit 1300 will be described in detail, and the description of the rear drive unit 1400 (drive module 1420) will not be repeated. In the following description of the front drive unit 1300 (drive module 1320), reference numerals (and names) in square brackets [] denote corresponding components (and names) in the rear drive unit 1400 (drive module 1420). ).

  FIG. 6 is a front view of the drive module 1320 [1420]. The drive module 1320 [1420] includes a servo motor 1320M [1420M], a first motor support 1331 [1431], a second motor support 1332 [1432], a shaft coupling 1340 [1440], and a pulley support 1350 [1450]. Have. The pulley support 1350 [1450] includes a pair of bearings 1361 [1461] and 1362 [1462], and a shaft 1370 [1470] rotatably supported by these.

The servo motor 1320M [1420M] is an ultra-low inertia, high-output type AC servo motor with a rated output of 37 kW and a moment of inertia suppressed to 0.01 kg · m ² or less (about 0.008 kg · m ² ). The moment of inertia of the standard AC servo motor having the same output is about 0.16 kg · m ² , and the moment of inertia of the servo motor 1320M [1420M] of this embodiment is less than 1/20 of that. By using a motor having a very low moment of inertia, it is possible to drive the table 1240 with a high acceleration exceeding 20 G (196 m / s ² ). Note that the collision simulation test apparatus 1000 of the present embodiment can apply an impact with a maximum acceleration of 50 G (490 m / s ² ) to the table 1240. For use in crash testing device is generally 0.05 kg · ^{m 2} or less moment of inertia of the servomotor (preferably 0.02 kg · ^{m 2} or less, more preferably 0.01 kg · ^{m 2} or less) need to be is there. Even when a motor having a low capacity of about 7 kW is used, it is desirable to satisfy the numerical condition of the moment of inertia. Further, a low inertia servomotor having a ratio N / I between the maximum torque _Nmax and the inertia moment I of at least 1000 (preferably 2500 or more, more preferably 5000 or more) is suitable for the collision simulation test apparatus. .

  The servo motor 1320M [1420M] includes a shaft 1321 [1421], a first bearing 1325 [1425] and a second bearing 1326 [1426] that rotatably support the shaft 1321 [1421], and a first bearing 1325 [1425]. The first bracket 1323 [1423] (load-side bracket) supporting the second bearing 1326 [1426] (the opposite bracket on the non-load side) supporting the second bearing 1326 [1426] and the shaft 1321 [1421] penetrate therethrough. A cylindrical stator 1322 [1422] is provided. The first bracket 1323 [1423] and the second bracket 1324 [1424] are fixed to the stator 1322 [1422].

The first bracket 1323 [1423] is fixed to the base block 1310 [ 1410 ] via the first motor support 1331 [1431]. The second bracket 1324 [1424] is fixed to the base block 1310 [ 1410 ] via the second motor support 1332 [1432].

  As described above, the servo motor 1320M [1420M] of the present embodiment includes the first bracket 1323 [1423] and the second bracket 1324 [1424] that support the first bearing 1325 [1425] and the second bearing 1326 [1426], respectively. Are supported by the first motor support 1331 [1431] and the second motor support 1332 [1432], respectively. As a result, since the first bearing 1325 [1425] and the second bearing 1326 [1426] are held with high rigidity, even if a strong torque or bending stress is applied to the shaft 1321 [1421], the neck of the shaft 1321 [1421] is applied. Swinging motion (precession motion) is suppressed, and high driving accuracy is maintained even under a high load state. This effect is particularly remarkable at a high load of 10 kW or more.

  The shaft coupling 1340 [1440] connects the shaft 1321 [1421] of the servomotor 1320M [1420M] and the shaft 1370 [1470] of the pulley support 1350 [1450]. The shaft 1370 [1470] is rotatably supported by a pair of bearings 1361 [1461] and 1362 [1462]. The bearings 1361 [1461] and 1362 [1462] are rolling bearings having rolling elements (balls or rollers). As the rolling elements, ceramic materials such as silicon nitride, silicon carbide, and zirconia may be used in addition to general steel materials such as stainless steel. By using a ceramic rolling element such as silicon nitride, seizure of the bearing during high-speed driving is suppressed.

  A first pulley 1140 [second pulley 1160] for driving the toothed belt 1120 is attached to the shaft 1370 [1470]. The position where the first pulley 1140 [the second pulley 1160] is attached is different for each drive module 1320 [1420]. In the drive modules 1320a, 1320d [1420a, 1420d] arranged in front of the front drive unit 1300 [rear drive unit 1400], as shown in FIG. 6, the first pulley 1140 [second pulley 1160] has a servo motor 1320M [1420M]. In the drive modules 1320b and 1320c [1420b and 1420c] which are mounted close to the bearing 1361 [1461] close to the servo motor 1320M [1420M] and mounted near the bearing 1362 [1462] far from the servo motor 1320M [1420M]. Can be Thus, the adjacent toothed belt 1120 can be driven by the drive modules 1320a and 1320b, 1320d and 1320c [1420a and 1420b, 1420d and 1420c] arranged in front and rear.

  As shown in FIGS. 1-4, in the front drive unit 1300 [rear drive unit 1400], four drive modules 1320a to d [1420a to d] are provided at four corners on the base block 1310 [1410], respectively. It is installed with the rotation axis facing in the direction. Further, drive modules 1320a and 1320d [1420a and 1420d] arranged in front and drive modules 1320b and 1320c [1420b and 1420c] arranged in back are arranged to face each other.

  The toothed belt 1120a is wound around a first pulley 1140a attached to the drive module 1320a and a second pulley 1160a attached to the drive module 1420a. The toothed belt 1120b is wound around a first pulley 1140b attached to the drive module 1320b and a second pulley 1160b attached to the drive module 1420b. The toothed belt 1120c is wound around a first pulley 1140c attached to the drive module 1320c and a second pulley 1160c attached to the drive module 1420c. The toothed belt 1120d is wound around a first pulley 1140d attached to the drive module 1320d and a second pulley 1160d attached to the drive module 1420d. That is, in the present embodiment, the toothed belts 1120a to 1120d are configured to be driven by a pair of drive modules 1320a to 1320a and 1420a to 1420d, respectively.

The eight toothed pulleys (first pulleys 1140a-d and second pulleys 1160a-d) are identical and have the same outer diameter and the same number of teeth. The four toothed belts 1120a to 1120d are the same. Also, the arrangement interval (inter-axis distance L ) between the first pulley 1140a-d and the second pulley 1160a-d around which each toothed belt 1120a-d is wound is common, and the effective length of each toothed belt 1120a-d. They are also the same length. Therefore, the response (expansion and contraction) of the toothed belts 1120a to 1120d when driven by the respective drive modules 1320a to 1320d and 1420a to d becomes substantially equal, and thus the driving conditions are set for each of the toothed belts 1120a to 1120d. No need.

  FIG. 7 is an exploded view of the belt clamp 1180. The belt clamp 1180 includes a table attachment portion 1181 detachably attached to the table 1240, and a clamp plate 1182 for tightening and fixing the toothed belt 1120 between the table attachment portion 1181 and the table attachment portion 1181.

  At the center in the width direction of the clamp plate 1182, a protruding tooth portion 1182t that meshes with a tooth shape 1121t (FIG. 8) formed on the inner peripheral surface of the toothed belt 1120 is formed. Further, a groove 1181g into which the toothed portion 1182t of the toothed belt 1120 and the clamp plate 1182 is fitted is formed on the lower surface of the table mounting portion 1181.

  The clamp plate 1182 is provided with a plurality of through holes 1182h for bolting the clamp plate 1182 to the table mounting portion 1181 on both sides in the width direction with the tooth portion 1182t interposed therebetween. A screw hole (not shown) is formed on the lower surface of the table mounting portion 1181 at a position facing each through hole 1182h. The clamp plate 1182 is mounted on the table mounting portion 1181 by fitting a bolt 1183 passed through each through hole 1182h into a screw hole formed on the lower surface of the table mounting portion 1181.

  When the toothed belt 1120 is fitted into the groove 1181g of the table attaching portion 1181 and the clamp plate 1182 is attached to the table attaching portion 1181, the toothed belt 1120 is pressed between the table attaching portion 1181 and the clamp plate 1182, and the belt clamp is performed. 1180. At this time, since the teeth of the toothed belt 1120 mesh with the teeth 1182t of the clamp plate 1182, even if a strong impact in the longitudinal direction (X-axis direction) is given to the toothed belt 1120, the toothing of the belt clamp 1180 is performed. The belt clamp 1180 is driven integrally with the toothed belt 1120 without the belt 1120 slipping.

  A plurality of screw holes 1181h for attaching to the table 1240 are provided on the upper surface of the table attaching portion 1181. Further, the table 1240 is provided with a plurality of through holes (not shown) corresponding to the screw holes 1181h. The table 1240 can be easily replaced only by attaching and detaching bolts to and from the through hole and the screw hole 1181h. For example, a dedicated table 1240 can be prepared according to the specimen, and the table 1240 can be exchanged and used according to the type of the specimen. Further, in this embodiment, the table 1240 has a flat plate shape, but may have another shape (for example, a boat shape or a box shape). Further, a part (for example, a frame) of the vehicle may be used as the table 1240. In addition, the specimen can be directly attached to the belt clamp 1180 and the carriage 1232.

  FIG. 8 is a diagram showing the structure of the toothed belt 1120. The toothed belt 1120 has a main body 1121 formed of a high-strength, high-modulus base material, and a plurality of cords 1122, which are bundles of high-strength, high-modulus fibers. The plurality of core wires 1122 are arranged at substantially equal intervals in the width direction of the toothed belt 1120. Each core wire 1122 is embedded in the main body 1121 in a state where it is stretched without slack in the length direction of the toothed belt 1120.

  On the inner peripheral surface (the lower surface in FIG. 8) of the toothed belt 1120, a tooth shape 1121t for meshing transmission is formed. The surface of the tooth profile 1121t is covered with a tooth cloth 1123 formed of a high-strength polyamide fiber or the like having excellent wear resistance. A plurality of grooves 1121g extending in the width direction for enhancing flexibility are formed at equal intervals in the length direction on the outer peripheral surface of the toothed belt 1120.

  In the toothed belt 1120 of this embodiment, a carbon core formed from a lightweight, high-strength, high-modulus carbon fiber is used as the core 1122. By using the carbon cord, even if the toothed belt 1120 is driven at a large acceleration and a large tension is applied to the toothed belt 1120, the toothed belt 1120 hardly expands and contracts. And the driving of the table 1240 can be controlled with high accuracy. Further, by using a lightweight carbon core wire, the inertia of the toothed belt can be significantly reduced as compared with a case where a metal core wire such as a steel wire or a steel cord is used. Therefore, it is possible to drive at a higher acceleration by using a motor having the same capacity. Further, when driven at the same acceleration, a motor having a lower capacity can be used, and the device can be reduced in size, weight, and cost.

  In the toothed belt 1120 of this embodiment, a high-strength polyurethane and a high-strength and high-hardness elastomer such as hydrogenated acrylonitrile butadiene rubber (H-NBR) are used as a base material for forming the main body 1121. You. The use of the high-strength and high-hardness base material reduces the amount of tooth profile deformation at the time of driving, thereby suppressing the occurrence of tooth skipping due to the tooth profile deformation and enabling the table 1240 to be driven with high precision. It becomes possible to control with. Further, since the strength of the toothed belt 1120 is improved, the expansion and contraction of the toothed belt 1120 during driving is reduced, and the driving of the table 1240 can be controlled with higher accuracy.

The collision simulation test apparatus used for evaluating the collision safety performance of an automobile or the like generates a large power capable of giving an acceleration as high as 20 G (196 m / s ² ) to the test piece, and supplies this to the table 1240 and the test piece. It must be accurately communicated to the specimen. In order to transmit high acceleration accurately, it is necessary to use a rigid member for the power transmission system. Examples of the power transmission system having high rigidity include a ball screw mechanism, a gear transmission mechanism, a chain transmission mechanism, and a wire transmission mechanism.

  During the crash simulation test, the maximum speed of the sled reaches 25 m / s (90 km / h). To achieve this speed with a ball screw mechanism, leads having a length exceeding 100 mm are required, but it is extremely difficult to manufacture a precise ball screw having such long leads.

Further, when a gear transmission mechanism or a chain transmission mechanism is used, it is necessary to give the gears and the chain a strength capable of withstanding a large acceleration. However, when the strength is increased, the inertia increases, so that a higher-output motor is required. Further, increasing the output of the motor involves an increase in the moment of inertia of the motor itself, so that it is necessary to further increase the output, and the energy efficiency is greatly reduced, resulting in an increase in the size of the device. Also, if the inertia of the entire device becomes excessive, it becomes difficult to generate and transmit a large acceleration. Acceleration by a gear transmission mechanism or a chain transmission mechanism is limited to about 3 G (29 m / s ² ), and cannot be driven at an acceleration [at least 20 G (196 m / s ² ) ] required for a collision simulation test. In addition, if the gear mechanism or the chain mechanism is driven at a high peripheral speed (up to 25 m / s) required for the simulation simulation, seizure occurs.

  Further, the wire transmission mechanism (winding transmission mechanism using a wire and a pulley) has relatively low inertia, but since power is transmitted only by friction, a large force is applied between the wire and the pulley when driving at a high acceleration. Slip occurs and the movement cannot be transmitted accurately.

In a general toothed belt such as a timing belt for automobiles, a core wire in which glass fibers or aramid fibers are twisted is used. Therefore, when driven at a large acceleration exceeding 10 G (98 m / s ² ), the expansion and contraction of the toothed belt increases due to lack of rigidity and strength of the core wire, so that the movement cannot be transmitted accurately. Further, in a general toothed belt, since a synthetic rubber having a low hardness such as nitrile rubber or chloroprene rubber is used as a base material, tooth skipping is likely to occur, and movement cannot be transmitted accurately.

  Some drive sources use a servo valve and a hydraulic cylinder. However, the response speed is insufficient, and an impact waveform that fluctuates at a high frequency exceeding 200 Hz cannot be accurately reproduced. In addition, the hydraulic system requires a large-sized hydraulic supply facility in addition to the hydraulic device, and thus requires a large installation space. Further, the hydraulic system has high maintenance and management costs for hydraulic supply equipment, and has a problem of environmental pollution due to oil leakage.

The inventor of the present invention has repeated a huge number of trial production experiments on various types of transmission mechanisms such as the above-described ball screw mechanism, gear transmission mechanism, chain transmission mechanism, wire transmission mechanism, belt transmission mechanism, and the like, and as a result, has obtained 20 G (196 m / s). ² ) The only configuration capable of realizing large accelerations up to ² ) is the combination of an ultra-low inertia electric servomotor and a lightweight, high-strength special toothed belt that combines a carbon core wire and a high modulus elastomer base material. In addition, the drive system of the present embodiment was successfully developed.

  FIG. 9 is a block diagram illustrating a schematic configuration of a control system 1000a of the collision simulation test apparatus 1000. The control system 1000a includes a control unit 1500 that controls the operation of the entire apparatus, a measurement unit 1600 that measures the acceleration of the table 1240, and an interface unit 1700 that performs input and output with the outside.

  The interface unit 1700 includes, for example, a user interface for performing input and output with a user, a network interface for connecting to various networks such as a LAN (Local Area Network), and a USB (Universal Serial Serial) for connecting to an external device. Bus) and GPIB (General Purpose Interface Bus). The user interface includes, for example, various operation switches, a display, various display devices such as an LCD (liquid crystal display), various pointing devices such as a mouse and a touch pad, a touch screen, a video camera, a printer, a scanner, a buzzer, and a speaker. , A microphone, a memory card reader / writer, and the like.

  The measurement unit 1600 includes an acceleration sensor 1620 attached to the table 1240, amplifies and digitally converts a signal from the acceleration sensor 1620 to generate measurement data, and sends the measurement data to the control unit 1500.

  Eight servomotors 1320M and 1420M are connected to the control unit 1500 via a servo amplifier 1800. The control unit 1500 and each servo amplifier 1800 are communicably connected by an optical fiber, and high-speed feedback control is possible between the control unit 1500 and each servo amplifier 1800. As a result, synchronous control with higher accuracy (higher resolution and higher accuracy on the time axis) is possible.

  The control unit 1500 synchronizes the driving of the servo motors 1320M and 1420M of the drive modules 1320a to 1320d and 1420a to d based on the acceleration waveform input via the interface unit 1700 and the measurement data input from the measurement unit 1600. By controlling, acceleration can be applied to the table 1240 according to the acceleration waveform. In the present embodiment, all of the eight servo motors 1320M and 1420M are driven in the same phase (strictly speaking, the left drive modules 1320a, 1320b, 1420a and 1420b and the right drive modules 1320c, 1320d, 1420c and 1420d). Drive in the opposite phase (reverse rotation).

  Acceleration waveforms include basic waveforms such as sine wave, half sine wave (half sine wave), sawtooth wave (sawtooth wave), triangular wave, trapezoidal wave, acceleration waveform measured in actual vehicle collision test, and collision simulation An acceleration waveform obtained by calculation or any other composite waveform (for example, a waveform generated by a function generator or the like) can be used.

  FIG. 10 is an example of an acceleration waveform, which is a waveform when a test is performed using a dummy weight (a stainless steel rectangular parallelepiped block) fixed on the table 1240 as a test sample. In FIG. 10, a broken line indicates a target waveform, and a solid line indicates an actually measured waveform. In this test, a test acceleration having a waveform measured in an actual vehicle collision test is applied to a test specimen in an initial first phase (P1). In the subsequent second phase (P2), the state where the acceleration is zero (constant speed) is maintained for a predetermined period (for example, 0.01 second). In the subsequent third phase (P3), the vehicle is decelerated at a substantially constant acceleration so that the absolute value of the acceleration becomes equal to or less than a predetermined value. As shown in FIG. 10, it was confirmed that an acceleration waveform well matching the target waveform could be given to the test specimen using the collision simulation test apparatus 1000 of the present embodiment.

  Moreover, the collision simulation test apparatus 1000 of the present embodiment is described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2012-2699) in that the motion of the test object (or table 1240) under test is all numerically controlled. It is completely different from the conventional thread test apparatus. Since all the movements during the test are controlled, it is possible to easily apply impacts having various acceleration waveforms to the specimen.

  In the conventional sled test apparatus as described in Patent Literature 1, the sled runs freely because the movement of the sled after the impact is applied cannot be controlled. Therefore, a long running path is required. On the other hand, the collision simulation test apparatus 1000 according to the present embodiment stops the sled promptly at an appropriate acceleration (ie, moderate so as not to substantially affect the test result) after the impact is applied. Therefore, the travel path (rail 1231) can be shortened, and the installation space for the device can be significantly reduced. For example, the length of the rail 1231 in this embodiment is only 2 m.

  Further, in the conventional thread test device described in Patent Literature 1, it is necessary to perform an operation of returning the thread that has run after the test to the initial position. In order to perform this operation automatically, it is necessary to further provide a mechanism for returning the thread to the initial position. Further, since the running distance of the sled is long, the mechanism for returning the sled to the initial position is also large, and a process for returning the sled to the initial position requires a certain time. In addition, if a mechanism for returning to the initial position by self-running is incorporated in the sled, the mechanism for returning the sled to the initial position can be reduced in size, but the load on the sled increases, which causes a problem that acceleration during the test decreases. . On the other hand, the collision simulation test apparatus 1000 according to the present embodiment can automatically return the table 1240 to the initial position by using a mechanism for applying an impact to the table 1240. There is no need to separately provide a dedicated mechanism for returning. Further, as described above, since the distance that the table 1240 moves during the test is short, the table 1240 can be returned to the initial position in a short time (for example, 1 to 2 seconds).

  Further, in a pressure accumulating type thread test device that generates an impact using pressure accumulated in an accumulator or the like as described in Patent Document 1, it takes time to charge (accumulate pressure). It needs to be empty. On the other hand, the collision simulation test apparatus 1000 of the present embodiment does not require charging, and thus can continuously perform tests without a time interval. Therefore, the test can be performed more efficiently.

  In the pressure accumulating type thread test device, an ultra-high pressure hydraulic pressure is used. Therefore, if a hydraulic pressure leak occurs, there is a risk that the worker may be injured by the high-pressure hydraulic oil that is ejected. In addition, since the sled is run for a long distance in an uncontrolled state, there is a risk that the worker may hit the running sled and be injured. On the other hand, the collision simulation test apparatus 1000 of the present embodiment does not use a hydraulic pressure and does not run the sled in an uncontrolled state, so that the test can be performed safely.

Further, as shown in FIG. 2, four toothed belts 1120a to 1120d are alternately shifted back and forth and arranged in a staggered manner. With this configuration, it is possible to drive each toothed belt 1120 by four pairs of drive modules 1320 and 1420 while keeping the center distance L between the four toothed belts 1120 uniform.

(2nd Embodiment)
The collision simulation test apparatus 1000 according to the first embodiment described above is a high-output type apparatus suitable for a test of a relatively heavy test specimen or a test of a higher acceleration. The collision simulation test apparatus 2000 according to the second embodiment is a medium output type apparatus suitable for testing a lighter specimen.

  11, 12, 13, and 14 are a perspective view, a plan view, a front view, and a side view, respectively, of the collision simulation test apparatus 2000.

  The collision simulation test apparatus 2000 of the second embodiment employs a configuration in which the two toothed belts 2120a and 2120d are driven using two pairs of the servo motors 2320M and 2420M of the first embodiment. I have.

  Although the front drive unit 1300 [rear drive unit 1400] of the first embodiment described above includes four drive modules 1320a to 1320d each having one servo motor 1320M [1420M]. 12, the front drive unit 2300 (rear drive unit 2400) of the present embodiment includes a single drive module 2320 [2420] having two servomotors 2320M [2420M]. For example, in the present embodiment, a drive module 2320 [2420] having a configuration in which two servo motors 2320M [2420M] are connected is employed.

  Specifically, drive module 2320 [2420] includes a single shaft 2370 [2470] rotatably supported by three bearings 2361, 2362 and 2363 [2461, 2462 and 2463], and includes shaft 2370 One end of [2470] is connected to one servomotor 2320M [2420M], and the other end is connected to the other servomotor 2320M [2420M]. That is, in this embodiment, a single shaft 2370 [2470] of the drive module 2320 [2420] is synchronously driven by two servo motors 2320M [2420M]. Such a servo motor connection structure is realized by high-precision synchronous control using high-speed optical digital communication between the control unit 2500 and each servo amplifier 2800.

  In the drive module 2320 [2420] of the present embodiment, two toothed belts are provided by two first pulleys 2140a and 2140d [second pulleys 2160a and 2160d] attached to a single shaft 2370 [2470]. 2120a and 2120d are driven. Therefore, complete synchronous control of the two toothed belts 2120a and 2120d is realized in the drive module 2320 [2420].

In the first embodiment (FIG. 4), a configuration is adopted in which the drive modules 1320b and 1320c are arranged below the rail support portions 1222 of the frame 1220, thereby reducing the distance L between the shafts of the belt mechanisms 1100a to 1100d. However, this configuration is not adopted in the present embodiment. Therefore, as shown in FIGS. 13 to 14, in the present embodiment, the height of the rail support 2222 of the frame 2220 is low. Accordingly, the height of the belt clamp 2180 (FIG. 13) has been reduced. Since the inertia of the belt clamp 2180 is reduced by reducing the height of the belt clamp 2180, high acceleration performance can be obtained even at a low output. Further, since the height of the belt clamp 2180 is reduced, the moment of the force around the Y axis applied to the belt clamp 2180 (and the toothed belt 2120 ) at the time of driving is reduced, and the bending deformation of the toothed belt 2120 is reduced. Transmission accuracy is improved.

(Third embodiment)
FIG. 15 is a perspective view of a collision simulation test device 3000 according to the third embodiment of the present invention. The collision simulation test apparatus 3000 according to the present embodiment is a low-power type apparatus suitable for testing a lighter specimen than the collision simulation test apparatus 2000 according to the second embodiment.

The collision simulation testing apparatus 3000 of the third embodiment, using the two driving modules 3420a及3420 d is a quarter of the first embodiment, to drive the two toothed belts 3120a and 3120d, respectively A configuration is employed.

  The collision simulation test device 3000 includes only a test unit 3200 and a rear drive unit 3400 as a mechanism unit, and does not include a front drive unit. In this embodiment, a pair of pulley support portions 3350a and 3350d are provided at the front end of the test portion 3200 instead of the front drive portion 1300 of the first embodiment (specifically, the pulley support portions 1350 of the drive modules 1320a and 1320d). Section.

  The pulley support portions 3350a and 3350d have the same configuration as the pulley support portion 1350 of the first embodiment except for the interval between bearings and the length of the shaft 3370. First pulley 3140a is attached to shaft 3370 of pulley support 3350a, and first pulley 3140d is attached to shaft 3370 of pulley support 3350d. The toothed belt 3120a is wound around a first pulley 3140a of the pulley support 3350a and a second pulley 3160a of the rear drive 3400. Further, the toothed belt 3120d is wound around a first pulley 3140d of the pulley support 3350d and a second pulley 3160d of the rear drive 3400. No servomotor is connected to the shaft 3370 of the pulley support portions 3350a and 3350d, and the first pulleys 3140a and 3140d function as driven pulleys.

  In belt transmission, power is transmitted by the pulling force (tensile force) of the belt. In the impact test, it is necessary to apply a strong acceleration to the specimen in the deceleration direction (rearward). It is also possible to dispose the drive unit in front of the test unit 3200 and dispose the driven pulley behind the test unit 3200. In this case, however, the side connected to the table 3240 is folded back by the rear driven pulley. The impact on the specimen is caused by the pulling of the belt, and the pulling length of the belt is increased. For this reason, a decrease in driving accuracy due to expansion and contraction of the belt increases. Therefore, as in the present embodiment, it is more advantageous to arrange the drive unit behind the test unit 3200 in terms of test accuracy.

  In the first embodiment described above, each toothed belt 1120 is wound around a pair of drive pulleys (a first pulley 1140 and a second pulley 1160) to couple the power of two servo motors 1320M and 1420M. In this case, a structure that gives a large power to the toothed belt 1120 is employed. When it is desired to apply more power to the toothed belt 1120, one method is to increase the output of each servomotor. However, if the output of the servomotor is simply increased by increasing the size (increase in diameter) of the rotor, the moment of inertia increases, and it becomes impossible to drive at a large acceleration.

  In order to increase the output of the servomotor while maintaining high acceleration performance, it is effective to make the rotor elongated. Hereinafter, a low-inertia, high-output servomotor (unit) developed by the present inventors based on such a design concept will be described. Instead of the servo motor in each of the above-described embodiments, a servo motor (unit) as in the fourth, fifth, and sixth embodiments described later can be used.

(Fourth embodiment)
Next, a collision simulation test apparatus 4000 according to a fourth embodiment of the present invention will be described. The collision simulation test apparatus 4000 differs from the collision simulation test apparatus 1000 of the first embodiment in that servo simulation units 4320M and 4420M described later are provided instead of the servo motors 1320M and 1420M of the first embodiment. Note that the servo motor units 4320M and 4420M have the same configuration.

  FIG. 16 is a side view of a servo motor unit 4320M according to the fourth embodiment of the present invention. The servo motor unit 4320M is formed by connecting two servo motors 4320MA and 4320MB in series.

  The servo motor 4320MB has the same configuration as the servo motors 1320M and 1420M of the first embodiment. The servomotor 4320MA is a two-axis servomotor in which both ends of a shaft 4320A2 protrude outside to form two connection shafts (a first shaft 4320A2a and a second shaft 4320A2b). The servomotor 4320MA has the same configuration as the servomotor 4320MB, except that the servomotor 4320MA has a second shaft 4320A2b and does not include a rotary encoder 4327 described later. The first shaft 4320A2a of the servomotor 4320MA becomes a single output shaft 4322 of the servomotor unit 4320M.

In the following description of the servo motor unit 4320M, the side on which the output shaft 4322 protrudes (the right side in FIG. 16) is referred to as a load side, and the opposite side is referred to as a non-load side. The two-axis servomotor 4320MA and the servomotor 4320MB each generate a torque of up to 350 N · m, and the moment of inertia of the rotating part is suppressed to 10 ⁻² kg · m ² or less. It is a low inertia servo motor.

  The servo motor 4320MB includes a cylindrical main body 4320B1 (stator), a shaft 4320B2, a first bracket 4320B3 (load-side bracket), a second bracket 4320B4 (anti-load-side bracket), and a rotary encoder 4327. Further, a pair of screw holes 4320B3t and 4320B4t are provided on the lower surfaces of the first bracket 4320B3 and the second bracket 4320B4, respectively.

  One end 4320B2a on the load side of the shaft 4320B2 penetrates the first bracket 4320B3 and protrudes outside the motor case to form an output shaft 4320B2a. On the other hand, a rotary encoder 4327 for detecting the rotational displacement of the shaft 4320B2 is mounted on the mounting seat surface (the left side surface in FIG. 16) of the second bracket 4320B4. The other end 4320B2b of the shaft 4320B2 passes through the second bracket 4320B4 and is connected to the rotary encoder 4327.

  As shown in FIG. 16, the output shaft 4320B2a of the servomotor 4320MB and the second shaft 4320A2b of the two-axis servomotor 4320MA are connected by a shaft coupling 4320C. Also, the first bracket 4320B3 of the servomotor 4320MB and the second bracket 4320A4 of the two-axis servomotor 4320MA are connected at a predetermined interval by a connection flange 4320D.

  The connection flange 4320D has a cylindrical body 4320D1 and two flanges 4320D2 extending radially outward from both axial ends of the body 4320D1. Each flange portion 4320D2 is provided with a through hole for fixing a bolt at a position corresponding to a screw hole provided on the mounting seat surface of the first bracket 4320B3 and the second bracket 4320A4. It is fixed to the bracket 4320A4 with bolts.

  As described above, in order to increase the output of the motor while maintaining high acceleration performance, it is effective to elongate the rotor.However, if the interval between the shafts supported by the bearings is too long, the rigidity of the shaft is reduced. Insufficiently, the deformation vibration of the shaft that warps in an arc shape becomes remarkable, and the performance of the motor is rather deteriorated. Therefore, in the conventional configuration in which the rotating shaft is supported only at both ends of the motor case by a pair of bearings, there is a limit to increasing the capacity while maintaining a low moment of inertia.

In the servo motor unit 4320M of the present embodiment, an elongated rotor is realized by a simple configuration in which the shafts of two servo motors are connected by a shaft coupling without newly designing a dedicated rotor. In addition, with the simple configuration in which the main bodies of the two servomotors are connected by the connection flange, the support interval of the shaft by the bearing is maintained. Therefore, even if the rotor becomes longer, it is supported with high rigidity and can operate stably, thereby generating a large torque that fluctuates at a high frequency, which was impossible with a conventional servomotor. It is possible. The servomotor unit 4320M alone (in a no-load state) can be driven at an angular acceleration of 30000 rad / s ² or more.

(Fifth embodiment)
Next, a collision simulation test device 5000 according to a fifth embodiment of the present invention will be described. The collision simulation test device 5000 differs from the collision simulation test device 1000 of the first embodiment in that servo motors 5320M and 5420M described later are provided instead of the servo motors 1320M and 1420M of the first embodiment. Since the servomotors 5320M and 5420M have the same configuration, a duplicate description of the servomotor 5420M will be omitted.

  FIG. 17 is a vertical view of a servomotor 5320M according to the fifth embodiment of the present invention. In the servo motor unit 4320M of the fourth embodiment described above, a configuration in which the main bodies (stators) of the two servo motors are connected by the connecting flange 4320D is adopted. However, in the servo motor 5320M of the present embodiment, the connecting flange 4320D is used. Are not used, but a single body frame formed integrally. The main body frame of the present embodiment is longer than the servomotors 4320MA and 4320MB of the fourth embodiment, and has substantially the same overall length as the servomotor unit 4320M. In the main body frame of the present embodiment, three bearings are provided at equal intervals at both ends in the length direction and halfway. The rotating shaft is rotatably supported by these bearings. A pair of brackets for supporting the bearing are provided at both ends in the longitudinal direction of the cylindrical main body frame. Further, a bearing support wall for supporting a bearing is provided at the center in the length direction on the inner periphery of the main body frame. Furthermore, a coil is attached between each bracket and the bearing support wall on the inner periphery of the main body frame to form a main body (stator). A core is provided on the outer periphery of the rotating shaft at a position facing each coil to form a rotor.

  In the present embodiment, since the shaft (rotor) and the main body (stator) can be designed exclusively, respectively, the design of the entire servomotor 5320M is further optimized, and a higher-performance motor can be realized. Will be possible.

  The numbers of bearings and coils are not limited to the configuration shown in FIG. For example, two or more bearings and bearing support walls may be provided halfway in the longitudinal direction of the main body frame. Further, it is desirable that the bearings are provided at substantially equal intervals in the length direction of the main body frame. In that case, a core and a coil may be provided between adjacent bearings.

(Sixth embodiment)
Next, a collision simulation test device 6000 according to a sixth embodiment of the present invention will be described. The collision simulation test apparatus 6000 differs from the collision simulation test apparatus 1000 of the first embodiment in that servo simulation units 6320M and 6420M described later are provided instead of the servo motors 1320M and 1420M of the first embodiment. Note that the servo motor units 6320M and 6420M have the same configuration.

  FIG. 18 is a plan view of a collision simulation test device 6000 according to the sixth embodiment of the present invention. The servo motor unit 6320M [6420M] includes two servo motors 6320MA and 6320MB [6420MA and 6420MB] connected in series. The servo motors 6320MA and 6420MA have the same configuration as the servo motors 1320M and 1420M of the first embodiment.

  The servomotor 6320MA [6420MA] is a two-axis servomotor in which both ends of a shaft 6320A2 [6420A2] protrude to the outside to form two shafts (a first shaft 6320A2a [6420A2a] and a second shaft 6320A2b [6420A2b]). The servomotors 6320MA and 6420MA have the same configuration as the servomotors 1320M and 1420M of the first embodiment except that they have the second shaft 6320A2b [6420A2b] and do not have the rotary encoder 1327 (FIG. 3). Things. The first shaft 6320A2a [6420A2a] of the servo motor 6320MA [6420MA] becomes a single output shaft 6322 [6422] of the servo motor unit 6320M [6420M].

  In the servomotor 6320MA [6420MA], which is a two-axis servomotor, the first bracket 6323A [6423A] and the second bracket 6324A [6424A] are both connected to the base plate via the highly rigid first motor support portion 6331 [6431]. 6320D [6420D]. The base plate 6320D [6420D] is fixed to the base block 6310 [6410].

  In the servo motor 6320MB [6420MB], the first bracket 6323B [6423B] is provided via the first motor support 6331 [6431], and the second bracket 6324B [6424B] is provided via the second motor support (not shown). Are fixed to the base plate 6320D [6420D].

  That is, in this embodiment, the main body of the servo motor 6320MA [6420MA] and the main body of the servo motor 6320MB [6420MB] are connected via the base plate 6320D [6420D]. In the present embodiment, the first motor support portion 6331 [6431] having high rigidity is used to support the second bracket 6324A [6424A] on the non-load side of the servomotor 6320MA [6420MA] which is a two-axis servomotor. The main body of the servomotor 6320MA [6420MA] and the main body of the servomotor 6320MB [6420MB] can be connected with sufficient rigidity without using the connecting flange 4320D of the fourth embodiment. Eliminating the connection flange 4320D facilitates the assembly of the servo motor unit 6320M [6420M].

  The output shaft 6320B2 [6420B2] of the servomotor 6320MB [6420MB] and the second shaft 6320A2b [6420A2b] of the servomotor 6320MA [6420MA] are connected by a shaft coupling 6320C [6420C].

  A total of 16 servomotors 6320MA, 6320MB, 6420MA, 6420MB are connected to the control unit via individual servo amplifiers, and are synchronously controlled by the control unit. In the present embodiment, the 16 servomotors 6320MA, 6320MB, 6420MA, 6420MB are all driven and controlled according to the same acceleration waveform.

(Seventh embodiment)
Next, a collision simulation test device 7000 according to a seventh embodiment of the present invention will be described. 19 and 20 are a plan view and a front view, respectively, of the collision simulation test device 7000. 21 and 22 are side views of the collision simulation test device 7000.

  The collision simulation test apparatus of each of the above-described embodiments generates an impact (acceleration pulse) having a predetermined waveform to be applied to the specimen by the front drive unit and the rear drive unit, and generates the generated impact waveform on the table to which the specimen is attached. Is transmitted by a belt mechanism. On the other hand, the collision simulation test apparatus 7000 according to the present embodiment collides the table 7240, which has been free-running at a predetermined speed, with an impact generation unit 7900 described later, thereby applying a predetermined amount to the specimen attached to the table 7240. It is configured to give a waveform shock. That is, the collision simulation test device 7000 of the present embodiment is configured to perform a conventional collision-type impact test.

  Similar to the collision simulation test device 2000 of the second embodiment, the collision simulation test device 7000 of the present embodiment includes a table 7240, a pair of linear guides 7230 that support the table 7240 so as to be able to run in the X-axis direction, and a table 7240. And a pair of belt mechanisms 7100a and 7100d for transmitting the power generated by the front drive unit 7300 and the rear drive unit 7400.

  Furthermore, the collision simulation test apparatus 7000 of the present embodiment includes an impact generator 7900 that applies an impact having a predetermined waveform to the table 7240, and a pusher 7250 that pushes the table 7240 toward the impact generator 7900.

  Each linear guide 7230 includes a rail 7231 and three carriages 7232 that can travel on the rail 7231. The carriage 7232 includes two carriages 7232a attached to the lower surface of the table 7240 and one carriage 7232b attached to the lower surface of the pusher 7250. That is, the table 7240 and the pusher 7250 are supported by the pair of linear guides 7230 so as to be able to travel in the X-axis direction.

  A pair of belt clamps 7180 (FIG. 20) are attached to the lower surface of the pusher 7250, and the pusher 7250 is fixed to the pair of toothed belts 7120 via the belt clamp 7180. That is, the pusher 7250 is driven by the pair of belt mechanisms 7100a and 7100d. Note that the table 7240 of this embodiment is not connected to the belt mechanisms 7100a and 7100d, but is driven via a pusher 7250 connected to the belt mechanisms 7100a and 7100d.

  As shown in FIG. 20, the pusher 7250 includes a bottom plate 7251, a push plate 7252 that stands upright on the upper surface of the front end of the bottom plate 7251, and a rib 7253 that connects the bottom plate 7251 and the push plate 7252 to increase rigidity. A pair of carriages 7232b (FIG. 21) of a linear guide 7230 is attached to the lower surface of the bottom plate 7251.

  The impact generating section 7900 includes a fixing section 7920 fixed on the base block 7310, an impact section 7940 arranged on the fixing section 7920, and a buffer section 7950 for reducing an impact between the fixing section 7920 and the impact section 7940. It has.

  A slide plate (not shown) is attached to the lower surface of the impact portion 7940, and the impact portion 7940 can slide on the fixed portion 7920 with low friction.

  The shock-absorbing portion 7950 includes a pair of movable frames 7951 attached to the impact portion 7940, two pairs of arms 7953 and a pair of guide rails 7955 attached to the fixed portion 7920, four coil springs 7954 and a coil holding rod 7956. Have. Although the coil spring 7954 of this embodiment is a compression spring, a tension spring may be used. Further, instead of the coil spring 7954, another kind of spring such as a leaf spring or a disc spring may be used.

  The movable frame 7951 is attached to both left and right (Y-axis direction) side surfaces of the impact portion 7940. The movable frame 7951 has a bottom plate 7251a placed on the upper surface of the fixed portion 7920, and four ribs 7951b connecting the bottom plate 7251a and the side surface of the impact portion 7940. The four ribs 7951b are arranged at equal intervals in the X-axis direction.

  The pair of guide rails 7955 are fixed to the fixed portion 7920 so that the length direction thereof is oriented in the X-axis direction and the impact portion 7940 is sandwiched between the pair of movable frames 7951 (specifically, the bottom plate 7251a) from both sides in the Y-axis direction. Mounted on top. The movable direction of the impact portion 7940 is limited to only the X-axis direction by the pair of guide rails 7955.

  In this embodiment, the impact portion 7940 is configured to be slid and guided by the slide plate and the guide rail 7955. However, a linear guide having rolling elements is used instead of the slide plate and the guide rail 7955. The impact portion 7940 may be configured to be guided by rolling.

  Two pairs of arms 7953 extending in the Z-axis direction are attached to the four corners of the fixed portion 7920 so as to sandwich each movable frame 7951 from both sides in the X-axis direction.

  Further, a coil spring 7954 is arranged between each arm 7953 and the movable frame 7951 adjacent thereto. Each coil spring 7954 is provided with a preload adjusted so as to generate an impact having a predetermined waveform. Further, by sandwiching the movable frame 7951 from both sides in the movable direction with the pair of coil springs 7954, even if the movable frame 7951 is displaced, the movable frame 7951 is quickly returned to the initial position by the coil spring 7954. Further, the damper 7950 may be provided with a damper arranged in series or parallel with the coil spring 7954.

  In the impact portion 7940 of the impact generating portion 7900, a projecting portion 7942 projecting toward the table 7240 (in the negative direction of the X axis) is formed at the center in the Y-axis direction facing the table 7240. In addition, a collision column 7944 that protrudes toward the table 7240 is attached to the tip of the protrusion 7942.

  Further, the table 7240 includes a main body 7242 and a collision column 7244 protruding from the front center of the main body 7242.

  The collision column 7244 and the collision column 7944 of the present embodiment are rigid bodies integrally formed of a hard material such as steel, but the collision column 7244 and / or 7944 may be a shock absorber provided with a damper and / or a spring. . When the collision column 7244 and / or 7944 is a shock absorber including both a damper and a spring, the damper and the spring may be connected in series or in parallel.

  Next, the operation of the collision simulation test device 7000 will be described. First, the table 7240 and the pusher 7250 are arranged at the initial positions shown in FIG. At this time, the back surface of the table 7240 is in contact with the push plate 7252 of the pusher 7250. Next, the pusher 7250 is driven at a predetermined speed toward the impact generation unit 7900 by the front drive unit 7300 and the rear drive unit 7400 via the belt mechanisms 7100a and 7100d. Since the table 7240 is in contact with the push plate 7252 of the pusher 7250, it is driven at a predetermined speed together with the pusher 7250. At this time, the pusher 7250 is gradually accelerated to a predetermined speed so as not to give a large impact to the table 7240 and not to move away from the pusher 7250 until the table 7240 reaches a predetermined speed. When the pusher 7250 reaches a predetermined speed, the pusher 7250 decelerates and stops.

  When the pusher 7250 decelerates, the table 7240 moves away from the pusher 7250 and freely travels on the rail 7231 at a predetermined speed. Eventually, as shown in FIG. 22, the collision column 7244 of the table 7240 collides with the collision column 7944 of the impact portion 7940, and the impact generated by this collision is given to the specimen attached to the table 7240. The magnitude and waveform of the impact given to the specimen can be adjusted by the collision speed (predetermined speed) and the spring constant of the coil spring 7954. Further, by providing a damper in the buffer portion 7950 or providing a shock absorber by providing a damper and / or a spring in the collision columns 7244 and / or 7944, it is possible to generate more various impact waveforms. Further, by providing a plurality of springs and dampers having different characteristics in the impact generation unit 7900 and changing the combination and connection relationship, for example, more various impact waveforms can be generated.

  After the test, the pusher 7250 is returned to the initial position by driving the front driver 7300 and the rear driver 7400 in the reverse direction. The table 7240 is manually returned to the initial position. Further, a mechanism for automatically returning the table 7240 to the initial position may be provided. For example, by providing a connection mechanism for releasably connecting the pusher 7250 and the table 7240, connecting the pusher 7250 and the table 7240, and then returning the pusher 7250 to the initial position, the table 7240 can be returned to the initial position. Will be possible. Further, for example, a belt mechanism for returning the table may be provided in addition to the belt mechanisms 7100a and 7100d. In this case, the table 7240 may not be fixed to the toothed belt, but may be configured to push the table 7240 back to the initial position by, for example, a pusher attached to the belt.

Belt clamp 7180 is removably attached to pusher 7250 by bolts. Also, a plurality of screw holes are provided on the lower surface of the table 7240 so that the four belt clamps 7180 can be detachably attached to the table 7240 by bolts. By removing the belt clamp 7180 from the pusher 7250, attaching the belt clamp 7180 to the table 7240, and connecting the table 7240 to the toothed belt 7120 of the belt mechanism 7100a, 7100d, the same as the collision simulation test apparatus 2000 of the second embodiment In addition, it is possible to perform a test in which an impact waveform generated by the front driving unit 7300 and the rear driving unit 7400 is directly applied to the table 7240 by the pair of belt mechanisms 7100a and 7100d.

  The above is the description of the exemplary embodiment of the present invention. The embodiments of the present invention are not limited to those described above, and various modifications can be made within the scope of the technical idea expressed by the claims. For example, configurations of the embodiments and the like explicitly illustrated in the present specification and / or configurations in which configurations of the embodiments and the like obvious to those skilled in the art from the description in the present specification are appropriately combined are also included in the embodiments of the present application. .

  In each of the above embodiments, the shaft of the servomotor is directly connected to the shaft of the pulley support. However, the servomotor and the shaft of the pulley support may be connected via a speed reducer. The use of the speed reducer makes it possible to test a specimen having a larger weight (inertia). In addition, since a servomotor having a lower capacity can be used, the size, weight, and cost of the device can be reduced.

  In each of the above embodiments, the acceleration applied to the table 1240 is controlled (that is, the impact is represented by the acceleration), but the present invention is not limited to this configuration. For example, the table 1240 may be controlled by speed or jerk.

  In each of the above embodiments, the acceleration of the table is controlled, but the present invention is not limited to this configuration. For example, the acceleration (shock) at a predetermined location of a test sample (for example, a sheet attached to a table, a dummy placed on the sheet, etc.) may be set as a control target.

  In each of the above embodiments, a linear guide including a rail and a substantially rectangular parallelepiped carriage is used as the linear motion guide mechanism, but the present invention is not limited to this configuration. For example, a rolling guide mechanism using a rolling element such as a ball spline or a linear bush may be used instead of or in addition to the linear guide.

  In each of the above embodiments, a ball is used as a rolling element of the linear motion guide mechanism (linear guide), but the present invention is not limited to this configuration. For example, a roller may be used as a rolling element.

  In each of the above embodiments, silicon nitride is used as the material of the rolling elements of the linear motion guide mechanism (linear guide), but the present invention is not limited to this configuration. For example, another type of ceramic material such as silicon carbide or zirconia may be used, or stainless steel may be used.

  In each of the above embodiments, the table 1240 is supported by the pair of left and right linear guides 23 so as to be movable only in the driving direction, but the present invention is not limited to this configuration. For example, it may be configured to be supported by three or more linear guides 23. By increasing the number of linear guides 23, the rigidity of the support of the table 1240 is improved. The number of linear guides 23 to be used is determined according to the weight of the specimen and the required test accuracy.

  In each of the above embodiments, two or four toothed belts 1120 are used, but the present invention is not limited to this configuration. For example, one, three, or five or more toothed belts 1120 may be used depending on the weight of the test specimen and the magnitude of the test acceleration.

  In each of the above embodiments, the toothed belt 1120 is an endless belt (endless belt), but the present invention is not limited to this configuration. Since the toothed belt 1120 is fixed to the table 1240 by the belt clamp 18 at two locations separated in the length direction (drive direction), an open-end belt can be used.

  In the above embodiments, the two belt clamps 18 for fixing one toothed belt 1120 are formed separately, but they may be formed integrally.

  In each of the above embodiments, the table 1240 and the table mounting portion 1181 of the belt clamp 18 are formed separately, but they may be formed integrally. For example, the toothed belt can be directly fixed to the table by providing a groove in which the toothed belt is fitted or a screw hole for bolting a clamp plate on the lower surface of the table.

  In each of the above embodiments, an AC servomotor is used as a drive source, but other types of actuators may be used as long as motion control is possible. For example, a DC servo motor, a stepping motor, an inverter motor, or the like may be used. Also, a hydraulic motor or a pneumatic motor can be used.

  In the above embodiment, the mounting portion 1221, the rail support portion 1222, and the connecting portion 1223 of the frame 1220 are each a prismatic structural material, but the present invention is not limited to this configuration. The attachment portion 1221 may have another shape as long as the attachment portion 1221 has a flat surface on the lower surface for installation on the base block 1210. The rail support 1222 may have another shape as long as the rail support 1222 has a flat surface on which the rail 1231 is mounted. The connecting portion 1223 may have another shape as long as the connecting portion 1221 and the rail supporting portion 1222 are connected with sufficient strength.

  The embodiment of the present invention described above can also be described as follows.

  A collision simulation test device according to one embodiment of the present invention includes a table to which a test piece is attached, and a toothed belt that drives the table in a driving direction, and the toothed belt includes a carbon core. .

  In the above collision simulation test apparatus, the toothed belt includes a pair of toothed pulleys around which the toothed belt is wound, and a belt clamp that releasably fixes the toothed belt to the table. It may be configured to be fixed to the table at two separate fixed positions.

  According to this configuration, since the belt clamp is fixed to the table, the occurrence of tooth skipping due to the swinging of the toothed belt due to the load of the belt clamp is suppressed, and the drive control of the table is improved.

  In the collision simulation test apparatus described above, the toothed belt may be fixed at at least one fixed position so that the effective length of the toothed belt can be adjusted.

  According to this configuration, it is easy to adjust the effective length of the toothed belt.

  In the above-described collision simulation test apparatus, a configuration may be employed in which a plurality of toothed belts are arranged in parallel with each other, and the table can be driven by the plurality of toothed belts.

  According to this configuration, it is possible to apply a necessary impact to a specimen having a large mass.

  In the above-described crash simulation test apparatus, the effective length of the plurality of toothed belts may be the same.

  According to this configuration, since the response characteristics of each toothed belt are uniform, it is possible to control each toothed belt under the same conditions (for example, the same time constant). Therefore, it is possible to drive a plurality of toothed belts with simpler control, and it is possible to suppress the processing capacity required for the control device.

  In the above-described collision simulation test apparatus, at least one of the pair of toothed pulleys may be a drive pulley, and a drive module that drives the drive pulley may be provided.

  In the collision simulation test device described above, the drive module may be configured to include an electric motor.

  According to this configuration, since no hydraulic pressure is required, there is no need to install hydraulic pressure supply equipment. Therefore, a large installation space is not required, and neither maintenance nor burden on the hydraulic supply equipment is required. Further, the surrounding environment is not polluted by the hydraulic oil, and the test can be performed in a clean and safe environment.

  In the above-described collision simulation test apparatus, the electric motor may be a servomotor.

In the above-described collision simulation test apparatus, the configuration may be such that the moment of inertia of the electric motor is 0.02 kg · m ² or less.

  According to this configuration, a large acceleration can be generated.

In the above-described collision simulation test apparatus, the configuration may be such that the moment of inertia of the electric motor is 0.01 kg · m ² or less.

  In the above-described collision simulation test device, the drive module may be provided with a speed reducer that reduces the output of the electric motor.

  According to this configuration, it is possible to test a specimen having a large inertia.

  In the above-described crash simulation test apparatus, the drive module may include a shaft driven by an electric motor, and a bearing rotatably supporting the shaft, and a drive pulley may be attached to the shaft.

  In the above-described collision simulation test apparatus, the drive module may include a pair of electric motors, and both ends of the shaft may be connected to the pair of electric motors.

  According to this configuration, the shaft can be driven with larger power. When two motors are used, the use of a common shaft makes it possible to reduce the number of bearings and to make the device compact.

  In the above-described collision simulation test device, a plurality of drive modules for driving the plurality of toothed belts may be provided, and two of the plurality of drive modules may be arranged in the axial direction of the drive pulley.

  According to this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path is reduced, and driving at a higher acceleration becomes possible.

  In the above-described collision simulation test device, a configuration is provided in which a plurality of drive modules for driving a plurality of toothed belts are provided, and two of the plurality of drive modules are arranged in the driving direction with the plurality of toothed belts interposed therebetween. It may be.

  According to this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path is reduced, and driving at a higher acceleration becomes possible.

  In the above collision simulation test device, the drive module includes at least two toothed pulleys that respectively drive at least two of the plurality of toothed belts, and the at least two toothed pulleys are attached to the shaft. It may be configured.

  According to this configuration, since at least two toothed belts are driven by one shaft, it is possible to completely synchronize the driving of the at least two toothed belts, and drive with higher precision is possible. become.

  In the above-described collision simulation test apparatus, the pair of toothed pulleys may be both driven pulleys.

  According to this configuration, it is possible to drive the toothed belt with higher power.

  In the above collision simulation test device, the drive module may include a first drive module that drives one of the pair of toothed pulleys, and a second drive module that drives the other of the pair of toothed pulleys. .

  In the collision simulation test apparatus described above, one or more drive modules are provided with a plurality of electric motors in total, and a control unit that controls the plurality of electric motors in synchronization is provided.The control unit controls each electric motor at a high speed using optical fiber communication. It may be configured to control.

  According to this configuration, the table can be driven with sufficiently high accuracy.

  In the above collision simulation test apparatus, a pusher for pushing the table in the drive direction, a linear guide for supporting the table and the pusher movably in the drive direction, and an impact generator for generating an impact applied to the specimen by a collision with the table. The toothed belt is fixable to each of the table and the pusher, and is releasably fixed to either the table or the pusher. When the toothed belt is fixed to the table, the drive module is An impact is applied to the specimen, and the impact is transmitted to the table by a toothed belt.When the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating portion to provide the impact. It is good also as a structure which produces the impact given to a specimen.

  In the above-described collision simulation test device, the impact generation unit includes a fixed unit, an impact unit arranged at a position where the table can collide, and a buffer unit for mitigating an impact between the fixed unit and the impact unit. May be adopted.

  In the above-described collision simulation test device, the shock-absorbing part is disposed so as to sandwich the movable frame in the driving direction, the movable frame attached to the impact part, and a pair of arms attached to the fixed part. And a spring interposed between each arm.

  In the above collision simulation test device, the table includes a first collision column protruding toward the impact generation unit, and the impact unit of the impact generation unit includes a second collision column protruding toward the first collision column, At least one of the first collision column and the second collision column may be configured as a shock absorber provided with at least one of a damper and a spring.

  In the above collision simulation test device, the linear guide includes a rail extending in the driving direction, and a carriage running on the rail via a rolling element, wherein the carriage is a first carriage attached to a table, and a pusher. And a second carriage attached to the second carriage.

  In the above-described crash simulation test apparatus, the toothed belt may include a main body formed of an elastomer, and the elastomer may include any of hard polyurethane and hydrogenated acrylonitrile butadiene rubber.

  According to this configuration, the occurrence of tooth skipping is suppressed, and the table can be driven with higher accuracy.

  In the above-described collision simulation test apparatus, a linear guide that guides the table in the driving direction is provided, and the linear guide has a rail that extends in the driving direction, and a carriage that runs on the rail via a rolling element. Is also good.

  According to this configuration, unnecessary movement of the table other than the driving direction is suppressed, so that the table can be driven with higher accuracy. Further, by adopting the low-loss rolling guide, the table can be driven with less power, and the guide means is less likely to be seized, so that the table can be driven at a higher acceleration.

  In the above-described collision simulation test apparatus, the rolling elements may be formed of a ceramic material.

  In the collision simulation test apparatus described above, the ceramic material may include any one of silicon nitride, silicon carbide, and zirconia.

  According to this configuration, the rolling element formed of a ceramic material has features that it is lighter, has higher heat resistance, and has higher accuracy than a general rolling element made of steel. Therefore, image sticking is less likely to occur, and the table can be driven at a higher acceleration.

In the device described in Patent Literature 1, the thread pushed out by the piston travels a long distance by inertia, so the overall length of the device is very long, and a large installation space is required. According to one embodiment of the present invention, a small and high-precision collision simulation test apparatus is realized.

1000: collision simulation test apparatus (first embodiment)
1100 belt mechanism 1200 test unit 1300 front drive unit 1400 rear drive unit 1500 control unit 2000 collision simulation test device (second embodiment)
3000: collision simulation test apparatus (third embodiment)
4000: collision simulation test apparatus (fourth embodiment)
5000: collision simulation test apparatus (fifth embodiment)
6000: collision simulation test apparatus (sixth embodiment)
7000: collision simulation test device (seventh embodiment)

Claims (25)

A table to which a specimen is attached , which is movable in a predetermined direction ,
A drive module capable of generating power for driving the table;
A toothed belt capable of transmitting the power ,
A control unit capable of controlling the drive module,
With
The control unit can control the drive module to generate an impact to be applied to the specimen,
The toothed belt transmits the impact generated by the drive module to the table,
Testing equipment. A pair of toothed pulleys around which the toothed belt is wound,
At least one of the pair of toothed pulleys is a drive pulley driven by the drive module.
The test device according to claim 1. A belt clamp for releasably fixing the toothed belt to the table,
The toothed belt,
Fixed to the table at two fixed positions separated in the length direction,
In at least one of the fixing positions, the effective length of the toothed belt is fixed so as to be adjustable.
The test device according to claim 2. The drive module includes an electric motor,
The test device according to claim 2 . The moment of inertia of the electric motor is 0.02 kg · m ² or less;
The test device according to claim 4 . The moment of inertia of the electric motor is 0.01 kg · m ² or less;
The test device according to claim 4 . One or more of the drive modules, a plurality of the electric motors are provided,
The control unit is configured to be able to synchronously control the plurality of electric motors using optical fiber communication,
The test apparatus according to any one of claims 4 to 6 . The driving module is:
A shaft driven by the electric motor;
A bearing rotatably supporting the shaft;
With
The drive pulley is attached to the shaft,
The test apparatus according to any one of claims 4 to 7 . The drive module includes a pair of the electric motors,
Both ends of the shaft are respectively connected to the pair of electric motors,
A test device according to claim 8 . Comprising a plurality of toothed belts arranged in parallel with each other,
The impact can be transmitted to the table by the plurality of toothed belts,
The test device according to any one of claims 2 to 9 . The effective lengths of the plurality of toothed belts are the same,
The test device according to claim 10 . Comprising a plurality of drive modules for driving each of the plurality of toothed belts,
At least two of the plurality of drive modules are arranged side by side in the axial direction of the drive pulley,
The test apparatus according to claim 10 . Comprising a plurality of drive modules for driving each of the plurality of toothed belts,
At least two of the plurality of drive modules are arranged side by side in the predetermined direction,
The test apparatus according to claim 10 or claim 11. The drive module includes two drive pulleys that respectively drive two of the plurality of toothed belts,
The two drive pulleys are mounted on one of the shafts,
The claim 8 directly or indirectly reference, test device according to any one of claims 13 claim 10. Comprising a plurality of the driving modules,
Each of the pair of toothed pulleys is the drive pulley,
The plurality of drive modules,
A first drive module for driving one of the pair of toothed pulleys;
A second drive module for driving the other of the pair of toothed pulleys;
including,
The test apparatus according to any one of claims 2 to 14 . A pusher for pushing the table in the predetermined direction;
A linear guide that supports the table and the pusher movably in the predetermined direction,
An impact generating unit that generates an impact applied to the specimen by collision with the table;
With
The toothed belt,
It is fixable to each of the table and the pusher,
Fixed to one of the table and the pusher in a releasable manner,
When the toothed belt is fixed to the table, the drive module generates an impact applied to the specimen, and the impact is transmitted to the table by the toothed belt,
When the toothed belt is fixed to the pusher, an impact is given to the specimen by the table pushed out by the pusher colliding with the impact generator,
The test device according to any one of claims 2 to 15 . The impact generator,
A fixed part,
An impact portion arranged at a position where the table can collide,
And a cushioning portion that reduces the impact between the fixed portion and the impact portion,
The test device according to claim 16 . The buffer unit is
A movable frame attached to the impact portion,
A pair of arms arranged so as to sandwich the movable frame in the predetermined direction and attached to the fixed portion,
A spring interposed between the movable frame and each arm,
The test device according to claim 17 . The table includes a first collision pillar protruding toward the impact generating unit,
The impact generating unit includes a second collision column protruding toward the first collision column,
At least one of the first collision column and the second collision column is a shock absorber including at least one of a damper and a spring.
The test apparatus according to any one of claims 16 to 18 . The linear guide is
A rail extending in the predetermined direction;
A carriage that can run on the rail via a rolling element,
With
The carriage,
A first carriage attached to the table;
A second carriage attached to the pusher.
The test apparatus according to any one of claims 16 to 19 . A linear guide that supports the table so as to be movable in the predetermined direction,
The linear guide is
A rail extending in the predetermined direction;
A carriage that can run on the rail via a rolling element,
With
The carriage is fixed to the table,
The test apparatus according to any one of claims 1 to 15 . The rolling element is formed from a ceramic material containing any of silicon nitride, silicon carbide, and zirconia ,
The test apparatus according to claim 20 or claim 21 . The toothed belt includes a main body formed of an elastomer,
The elastomer comprises one of a hard polyurethane and a hydrogenated acrylonitrile butadiene rubber,
The test apparatus according to any one of claims 1 to 22 .   The toothed belt has a carbon core,
  The test apparatus according to any one of claims 1 to 23.   The control unit is capable of controlling the drive module so as to give the same impact to the table as at the time of a vehicle collision,
The test apparatus according to any one of claims 1 to 24.

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