JP2023096018A - Test device - Google Patents

Abstract

To provide a test device capable of giving impact with a controlled waveform to a specimen.SOLUTION: A test device includes: a table to which a test piece is attached and that 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; and a control unit capable of controlling the drive module. The control unit can control the drive module so as to generate impact to be applied to the test piece, and is configured such that the impact generated by the drive module is transmitted to the table by the toothed belt.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a testing apparatus capable of applying a predetermined wave-like impact to a specimen.

Crash tests are conducted to evaluate the safety of occupants during automobile collisions. Collision tests include an actual vehicle collision test (destructive test) in which an actual vehicle collides with a barrier at a predetermined speed, and an impact (acceleration pulse) equivalent to that of an actual vehicle collision is applied to a sled (truck) on which a test piece is attached. There is a crash simulation test (sled test).

Patent Literature 1 describes an apparatus for performing a crash simulation test. In the device described in Patent Document 1, the tip of the piston of the launcher is brought into contact with the front end of a sled that is horizontally movably supported. , non-destructively reproduces the impact acting on the specimen attached to the sled.

Japanese Unexamined Patent Application Publication No. 2012-2699

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

SUMMARY OF THE INVENTION 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 imparting a controlled wave-like impact to a specimen.

A test apparatus according to an embodiment of the present invention includes a table on which a test piece is attached and 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 controller capable of controlling the drive module, wherein the controller is capable of controlling the drive module to generate an impact to be applied to the test piece, and the toothed belt controls the impact generated by the drive module. Communicate to the table.

The above test apparatus may include a pair of toothed pulleys around which a toothed belt is wound, and at least one of the pair of toothed pulleys may be a drive pulley driven by a drive module.

The above test apparatus comprising a belt clamp for releasably securing the toothed belt to the table, wherein the toothed belt is secured to the table at two longitudinally spaced securing positions, and at least one securing position. 3, the effective length of the toothed belt may be fixed so as to be adjustable.

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

In the above test apparatus, the moment of inertia of the electric motor may be 0.02 kg·m ² or less or 0.01 kg·m ² or less.

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

In the above test apparatus, the drive module may include a shaft driven by the electric motor, a bearing that rotatably supports 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, respectively.

In the above test apparatus, a configuration in which a plurality of toothed belts are arranged parallel to each other, an impact can be transmitted to the table by the plurality of toothed belts, and the effective length of the plurality of toothed belts is the same good too.

The test apparatus described above may include a plurality of drive modules that respectively drive the plurality of toothed belts, and at least two of the plurality of drive modules may be arranged side by side in the axial direction of the drive pulley.

The test apparatus described above may include a plurality of drive modules that respectively drive a plurality of toothed belts, and at least two of the plurality of drive modules may be arranged side by side in a predetermined direction.

In the above test apparatus, the drive module may comprise two drive pulleys for respectively driving two of the plurality of toothed belts, the two drive pulleys being mounted on one shaft.

In the above test apparatus, a first drive module comprising a plurality of drive modules, the pair of toothed pulleys being driving pulleys, the plurality of drive modules driving one of the pair of toothed pulleys; and a second drive module for driving the other of the toothed pulleys.

In the above test apparatus, a pusher for pushing the table in a predetermined direction, a linear guide for supporting the table and the pusher so as to be movable in a predetermined direction, and an impact generator for generating an impact on the test piece by colliding with the table. , wherein the toothed belt is securable to each of the table and the pusher, releasably securable to one of the table and the pusher, and when the toothed belt is securable to the table, the drive module When an impact is generated on the specimen and the impact is transmitted to the table by the toothed belt, and the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating part, A configuration may be adopted in which an impact is applied to the specimen.

In the above test apparatus, the impact generating section includes a fixed section, an impact section arranged at a position where the table can collide, and a cushioning section that absorbs the impact between the fixed section and the impact section. may be

In the above test apparatus, the shock absorber includes a movable frame attached to the impact portion, a pair of arms attached to the fixed portion arranged so as to sandwich the movable frame in a predetermined direction, and the movable frame. and a spring sandwiched between each arm.

In the above test apparatus, the table includes a first impact column projecting toward the impact generating portion, the impact generating portion includes a second impact column projecting toward the first impact column, the first impact column and At least one of the second impact columns may be a shock absorber including at least one of a damper and a spring.

In the above test apparatus, the linear guide comprises a rail extending in a predetermined direction and a carriage capable of traveling on the rail via rolling elements, the carriage comprising a first carriage attached to a table, and a pusher and a second carriage attached to the .

The above test apparatus has a linear guide that supports the table movably in a predetermined direction, and the linear guide includes a rail extending in a predetermined direction and a carriage that can run on the rail via rolling elements. The carriage may be fixed to the table.

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

In the above test apparatus, the toothed belt may have a main body made of an elastomer, and the elastomer may contain either hard polyurethane or hydrogenated acrylonitrile-butadiene rubber.

In the above test apparatus, the toothed belt may have a carbon core wire.

In the above test apparatus, the control section may be configured to control the drive module so as to apply an impact to the table similar to that of an automobile collision.

Embodiments of the present invention provide a test apparatus capable of applying a controlled wave-shaped shock to a specimen.

1 is a perspective view of a crash simulation test device according to a first embodiment of the present invention; FIG. 1 is a plan view of a crash simulation test device according to a first embodiment of the present invention; FIG. 1 is a front view of a crash simulation test device according to a first embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the collision simulation test apparatus which concerns on 1st Embodiment of this invention. It is a perspective view showing the internal structure of the test section of the first embodiment of the present invention. 1 is a side view of the drive module of the first embodiment of the invention; FIG. 1 is an exploded perspective view of a belt clamp according to a first embodiment of the invention; FIG. It is a structural diagram of a toothed belt. 1 is a block diagram showing a schematic configuration of a control system; FIG. 4 is a graph showing an example of an acceleration waveform; It is a perspective view of the collision simulation test apparatus which concerns on 2nd Embodiment of this invention. It is a top view of the collision simulation test apparatus concerning 2nd Embodiment of this invention. It is a front view of the collision simulation test apparatus which concerns on 2nd Embodiment of this invention. It is a side view of the collision simulation test apparatus which concerns on 2nd Embodiment of this invention. It is a perspective view of the collision simulation test apparatus which concerns on 3rd Embodiment of this invention. FIG. 11 is a side view of a servo motor unit according to a fourth embodiment of the invention; FIG. 11 is a side cross-sectional view of a servomotor according to a fifth embodiment of the present invention; FIG. 11 is a plan view of a crash simulation test device according to a sixth embodiment of the present invention; It is a top view of the collision simulation test apparatus concerning 7th Embodiment of this invention. It is a front view of the collision simulation test apparatus concerning 7th Embodiment of this invention. It is a side view of the collision simulation test apparatus which concerns on 7th Embodiment of this invention. It is a side view of the collision simulation test apparatus which concerns on 7th Embodiment of this invention.

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

(First embodiment)
FIG. 1 is a perspective view of a crash simulation test device 1000 according to the first embodiment of the invention. 2, 3 and 4 are a plan view, a front view and a side view of the crash simulation test device 1000, respectively.

The collision simulation test device 1000 is a device that reproduces the impact that is applied to the vehicle, the occupants, and the equipment of the vehicle when the vehicle (including railroad vehicles, aircraft, and ships) collides.

The crash simulation test apparatus 1000 has a table 1240 which is likened to a vehicle frame of an automobile. On the table 1240, a test object such as a seat on which an occupant's dummy is placed or a high-voltage battery for an electric vehicle is attached. When the table 1240 is driven with a set acceleration (for example, acceleration corresponding to the impact applied to the vehicle frame during a collision), the specimen attached to the auxiliary table 1240 is subjected to the same impact as in an actual collision. The safety of the occupant is evaluated based on the damage received by the test object at this time (or the damage predicted from the measurement results of the acceleration sensor or the like attached to the test object).

The collision simulation test apparatus 1000 of this 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 the X-axis direction, the horizontal direction perpendicular to the X-axis direction as the Y-axis direction, and the vertical direction as the Z-axis direction. 2, the left direction (X-axis positive direction) is forward, the right direction (X-axis negative direction) is backward, the upward direction (Y-axis negative direction) is rightward, and the downward direction ( Y-axis positive direction) is referred to as the left side. Also, the X-axis direction in which the table 1240 is driven is called the “driving direction”. Note that in the crash simulation test, a large acceleration is applied to the table 1240 in the direction opposite to the traveling direction of the vehicle (that is, backward).

The crash simulation test apparatus 1000 includes a test section 1200 having a table 1240, a front drive section 1300 and a rear drive section 1400 that drive the table 1240, and rotational motions generated by the drive sections 1300 and 1400 for translating in the X-axis direction. It is equipped with four belt mechanisms 1100 (belt mechanisms 1100a, 1100b, 1100c, 1100d) that convert to motion and transmit it to the table 1240, and a control system 1000a (FIG. 9).

Test section 1200 is arranged in the center of crash simulation test apparatus 1000 in the X-axis direction, and front drive section 1300 and rear drive section 1400 are arranged adjacent to the front and rear of test section 1200, respectively.

FIG. 5 is a perspective view showing the structure of the test section 1200 and the belt mechanism 1100. As shown in FIG. For convenience of explanation, FIG. 5 omits illustration of a table 1240 and a base block 1210 (described later), which are components of the test section 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 mounted on the frame 1220 (hereinafter referred to as "linear abbreviated as "guide 1230"). A pair of linear guides 1230 supports a table 1240 so as to be movable only in the X-axis direction (driving direction).

As shown in FIG. 5, the frame 1220 has a pair of left and right half frames (right frame 1220R, left frame 1220L) connected by a plurality of connecting bars 1220C extending in the Y-axis direction. Since the right frame 1220R and the left frame 1220L have the same structure (strictly speaking, 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 support 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 support portion 1222. have. As shown in FIG. 1, the mounting portion 1221 has a length substantially equal to the length of the base block 1210 in the X-axis direction, and is supported by the base block 1210 over its entire length. Further, the rear end portions of the attachment portion 1221 and the rail support portion 1222 are connected to each other by the connection portion 1223a.

The rail support portion 1222 is longer than the mounting portion 1221 (that is, longer than the base block 1210 ), and its tip protrudes forward from the base block 1210 and is arranged above the front driving portion 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. Rails 1231 of a pair of linear guides 1230 are fixed to upper surfaces of rail support portions 1222 of right frame 1220R and left frame 1220L, respectively. The length of the rail 1231 is substantially equal to the length of the rail support portion 1222 , and the rail support portion 1222 supports the entire length of the rail 1231 . A plurality of mounting holes (screw holes) are provided in the upper surface of the carriage 1232 , and a plurality of through holes corresponding to the mounting holes of the carriage 1232 are provided in the table 1240 . The carriage 1232 is fastened to the table 1240 by fitting bolts (not shown) passed through the through holes of the table 1240 into the mounting holes of the carriage 1232 . Note that the table 1240 and the four carriages 1232 constitute a carriage (sled).

Further, the table 1240 has a mounting structure such as a screw hole for mounting a test piece (not shown) such as a sheet, so that the test piece can be directly mounted on the table 1240 . This eliminates the need for mounting plates and other members to attach the test piece, so the weight of the moving parts to which the impact is applied can be reduced, and high-fidelity impact can be applied to the test piece up to high frequency components. It is possible.

As shown in FIG. 5, each belt mechanism 1100 includes a toothed belt 1120, a pair of toothed pulleys (a first pulley 1140 and a second pulley 1160) around which the toothed belt 1120 is wound, and a toothed belt 1120. A pair of belt clamps 1180 are provided for securing the 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-d is fixed to a table 1240 by belt clamps 1180 at two points along its length. A specific configuration for fixing the toothed belt 1120 to the table 1240 will be described later.

As shown in FIG. 2, the front driving section 1300 includes a base block 1310 and four driving modules 1320 (1320a, 1320b, 1320c, 1320d) installed on the base block 1310. As shown in FIG. The rear driving section 1400 also includes a base block 1410 and four driving modules 1420 (1420a, 1420b, 1420c, 1420d) installed on the base block 1410. As shown in FIG. The drive modules 1320a to 1420a to 1420a to 1420d have slight differences in installation positions, orientations, lengths of components, and arrangement intervals, but have the same basic configuration.

Further, the basic configuration of the forward driving section 1300 and the rearward driving section 1400 is also common. Therefore, the configuration of the drive module 1320 of the front drive section 1300 will be described in detail, and redundant description of the rear drive section 1400 (drive module 1420) will be omitted. In the following description of the front drive unit 1300 (drive module 1320), the reference numerals (and names) in square brackets [ ] indicate the corresponding components in the rear drive unit 1400 (drive module 1420). ).

FIG. 6 is a front view of 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]. I have. Further, the pulley support portion 1350 [1450] includes a pair of bearings 1361 [1461] and 1362 [1462] and a shaft 1370 [1470] rotatably supported by these.

The servomotor 1320M [1420M] is an ultra-low-inertia high-output AC servomotor with a rated output of 37 kW whose moment of inertia is suppressed to 0.01 kg·m ² or less (approximately 0.008 kg·m ² ). Note that the moment of inertia of a standard AC servomotor with the same output is about 0.16 kg·m ² , and the moment of inertia of the servomotor 1320M [1420M] of this embodiment is less than 1/20 of that. By using a motor with such 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 ). Incidentally, 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 . In order to use it in a crash test apparatus, the moment of inertia of the servo motor should be approximately 0.05 kg·m ² or less (preferably 0.02 kg·m ² or less, more preferably 0.01 kg·m ² or less). be. Even when using a low-capacity motor of about 7 kW, it is desirable to satisfy the numerical condition of the moment of inertia. Also, a low inertia servomotor with a ratio N/I of the maximum torque _Nmax to the moment of inertia I of at least 1000 or more (preferably 2500 or more, more preferably 5000 or more) is suitable for the crash simulation test device. .

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]. A first bracket 1323 [1423] (load side bracket) that supports a second bracket 1324 [1424] (anti-load side bracket) that supports a second bearing 1326 [1426], and a shaft 1321 [1421] pass through It has a cylindrical stator 1322 [1422]. 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 portion 1331 [1431]. Also, the second bracket 1324 [1424] is fixed to the base block 1310 [1410] via the second motor support portion 1332 [1432].

Thus, the servomotor 1320M [1420M] of the present embodiment includes a first bracket 1323 [1423] and a 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 portion 1331 [1431] and the second motor support portion 1332 [1432], respectively. As a result, the first bearing 1325 [1425] and the second bearing 1326 [1426] are held with high rigidity. Swinging motion (precession motion) is suppressed, and high driving accuracy is maintained even under high load conditions. This effect is particularly noticeable at high loads of 10 kW or more.

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

A first pulley 1140 [second pulley 1160] that drives the toothed belt 1120 is attached to the shaft 1370 [1470]. Note that the position where the first pulley 1140 [second pulley 1160] is attached differs for each drive module 1320 [1420]. In the drive modules 1320a, 1320d [1420a, 1420d] arranged in front of the front drive section 1300 [rear drive section 1400], as shown in FIG. ] toward the bearings 1361 [1461] closer to the servomotor 1320M [1420M] and mounted toward the bearings 1362 [1462] farther from the servo motors 1320M [1420M]. be done. As a result, adjacent toothed belts 1120 can be driven by drive modules 1320a and 1320b, 1320d and 1320c [1420a and 1420b, 1420d and 1420c] arranged in front and behind.

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

Toothed belt 1120a is wrapped around a first pulley 1140a attached to drive module 1320a and a second pulley 1160a attached to drive module 1420a. Toothed belt 1120b is wrapped around a first pulley 1140b attached to drive module 1320b and a second pulley 1160b attached to drive module 1420b. Toothed belt 1120c is wrapped around a first pulley 1140c attached to drive module 1320c and a second pulley 1160c attached to drive module 1420c. Toothed belt 1120d is entrained around a first pulley 1140d attached to drive module 1320d and a second pulley 1160d attached to drive module 1420d. That is, in this embodiment, each toothed belt 1120a-d is configured to be driven by a respective pair of drive modules 1320a-d and 1420a-d.

The eight toothed pulleys (first pulleys 1140a to 1140d and second pulleys 1160a to 1160d) are identical and have a common outer diameter and number of teeth. The four toothed belts 1120a-d are also identical. In addition, the first pulleys 1140a to 1140d and the second pulleys 1160a to 1160d around which the toothed belts 1120a to 1120d are wound have a common arrangement interval (axis distance L), and the effective length of each toothed belt 1120a to 1120d are aligned to the same length. Therefore, since the responses (e.g. expansion and contraction) of the toothed belts 1120a to 1120d when driven by the respective drive modules 1320a to 1420a to 1420d are substantially equal, drive conditions are set for each of the toothed belts 1120a to 1120d. No need.

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

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

The clamp plate 1182 has 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 across the tooth portion 1182t. Further, screw holes (not shown) are formed in the lower surface of the table mounting portion 1181 at positions facing the through holes 1182h. The clamp plate 1182 is attached to the table attachment portion 1181 by fitting the bolts 1183 passed through the through holes 1182h into screw holes formed in the lower surface of the table attachment portion 1181 .

When the toothed belt 1120 is fitted into the groove 1181g of the table attachment portion 1181 and the clamp plate 1182 is attached to the table attachment portion 1181, the toothed belt 1120 is pressed between the table attachment portion 1181 and the clamp plate 1182, and the belt is clamped. Fixed at 1180. At this time, since the teeth of the toothed belt 1120 and the toothed portion 1182t of the clamp plate 1182 are engaged with each other, even if a strong impact is applied to the toothed belt 1120 in the longitudinal direction (X-axis direction), the toothed belt clamp 1180 does not engage the teeth. The belt clamp 1180 is driven integrally with the toothed belt 1120 without the belt 1120 slipping.

A plurality of screw holes 1181 h for attaching to the table 1240 are provided on the upper surface of the table attachment portion 1181 . Also, 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 the through holes and the screw holes 1181h. For example, a dedicated table 1240 may be prepared according to the specimen, and the table 1240 may be exchanged according to the type of specimen. In addition, although the table 1240 has a flat plate shape in this embodiment, it may have another shape (for example, a boat shape, a box shape, or the like). Also, a part of the vehicle (for example, the frame) may be used as the table 1240 . Alternatively, the specimen can be attached directly to belt clamp 1180 and carriage 1232 .

FIG. 8 is a diagram showing the structure of the toothed belt 1120. As shown in FIG. The toothed belt 1120 has a main body portion 1121 formed from a high-strength, high-modulus base material, and a plurality of cords 1122 that 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 body portion 1121 while being stretched in the length direction of the toothed belt 1120 without slack.

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

In the toothed belt 1120 of the present embodiment, the core wire 1122 uses a carbon core wire made of lightweight, high-strength, high-modulus carbon fiber. By using the carbon core wire, even if the toothed belt 1120 is driven with 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. In addition, by using a lightweight carbon core wire, the inertia of the toothed belt can be significantly reduced compared to the case of using a metal core wire such as steel wire or steel cord. Therefore, it becomes possible to drive at a higher acceleration using a motor of the same capacity. In addition, when driving at the same acceleration, it becomes possible to use a motor with a lower capacity, which makes it possible to reduce the size, weight, and cost of the device.

Further, in the toothed belt 1120 of the present embodiment, the base material forming the main body portion 1121 is made of high-strength polyurethane, hydrogenated acrylonitrile-butadiene rubber (H-NBR), or other high-strength and high-hardness elastomer. be. By using such a high-strength and high-hardness base material, the amount of deformation of the tooth profile during driving is reduced. can be controlled by 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.

A crash simulation test apparatus used to evaluate the crash safety performance of automobiles and the like generates a large amount of power capable of giving a high acceleration of 20 G (196 m/s ² ) to a test piece, and this is applied to the table 1240 and the test piece. It must be accurately transmitted to the specimen. In order to accurately transmit high acceleration, it is necessary to use highly rigid members in the power transmission system. Examples of highly rigid power transmission systems include ball screw mechanisms, gear transmission mechanisms, chain transmission mechanisms, and wire transmission mechanisms.

During the simulated crash test, the maximum speed of the sled reaches 25 m/s (90 km/h). In order to achieve this speed with a ball screw mechanism, a lead length exceeding 100 mm is required, but it is extremely difficult to manufacture a precision ball screw with such a long lead length.

Also, when using a gear transmission mechanism or a chain transmission mechanism, it is necessary to give the gears and the chain a strength capable of withstanding large accelerations. However, increasing strength increases inertia, requiring a higher power motor. In addition, increasing the output of the motor is accompanied by an increase in the moment of inertia of the motor itself, so a further increase in the output is required, which greatly reduces the energy efficiency and increases the size of the device. Moreover, if the inertia of the entire device becomes excessive, it becomes difficult to generate and transmit large acceleration. Acceleration by the gear transmission mechanism or the chain transmission mechanism has a limit of about 3 G (29 m/s ² ), and cannot be driven at the acceleration required for the crash simulation test [at least 20 G (196 m/s ² )]. In addition, if the gear mechanism and chain mechanism are driven at a high peripheral speed (up to 25m/s) required for crash simulation tests, seizure will occur.

In addition, the wire transmission mechanism (winding transmission mechanism using a wire and pulley) has relatively low inertia, but because power is transmitted only by friction, the wire and pulley will not move when driving at high acceleration. Slippage occurs and motion cannot be accurately transmitted.

In general toothed belts such as timing belts for automobiles, core wires obtained by twisting glass fibers or aramid fibers are used. Therefore, if it is driven at a large acceleration exceeding 10 G (98 m/s ² ), the stretch of the toothed belt increases due to the lack of rigidity and strength of the core wire, and motion cannot be transmitted accurately. In general toothed belts, since synthetic rubber with low hardness such as nitrile rubber or chloroprene rubber is used for the base material, tooth jumping easily occurs and motion cannot be transmitted accurately.

There is also a drive source that uses a servo valve and a hydraulic cylinder. In addition, the hydraulic system requires a large installation space in addition to the hydraulic device because it requires a large hydraulic supply facility. Furthermore, hydraulic systems have problems such as high maintenance and management costs for hydraulic supply equipment and environmental pollution due to oil leakage.

The inventor of the present invention has repeatedly carried out a large number of prototype experiments on various types of transmission mechanisms such as the ball screw mechanism, gear transmission mechanism, chain transmission mechanism, wire transmission mechanism, belt transmission mechanism, etc., and as a result, 20 G (196 m/s ² ), combining an ultra-low inertia electric servomotor with a lightweight, high-strength special toothed belt that combines carbon core wires and a high elastic modulus elastomer base material. In addition, they succeeded in developing the drive system of this embodiment.

FIG. 9 is a block diagram showing a schematic configuration of a control system 1000a of the crash simulation test device 1000. As shown in FIG. The control system 1000a includes a control section 1500 that controls the operation of the entire apparatus, a measurement section 1600 that measures the acceleration of the table 1240, and an interface section 1700 that performs input/output with the outside.

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

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 servo motors 1320 M and 1420 M 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 . This enables synchronous control with higher precision (higher resolution and higher accuracy on the time axis).

The control unit 1500 synchronizes driving of the servo motors 1320M and 1420M of the drive modules 1320a to 1320a to 1420d 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 given to the table 1240 according to the acceleration waveform. In this embodiment, all 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 are driven in phase). is driven 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, and trapezoidal wave, as well as acceleration waveforms measured in actual vehicle crash tests and crash simulations. A calculated acceleration waveform or any other synthetic waveform (eg, a waveform generated by a function generator or the like) can be used.

FIG. 10 shows an example of an acceleration waveform, which is a waveform when a dummy weight (stainless steel cuboid block) fixed on the table 1240 is used as a specimen and tested. In FIG. 10, the dashed line indicates the target waveform, and the solid line indicates the measured waveform. In this test, in the first phase (P1), the specimen is subjected to a waveform test acceleration measured in an actual vehicle crash test. In the subsequent second phase (P2), the state of zero acceleration (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 is less than or equal to a predetermined value. As shown in FIG. 10, it was confirmed that the collision simulation test apparatus 1000 of the present embodiment can be used to give the specimen an acceleration waveform that well matches the target waveform.

In addition, the collision simulation test apparatus 1000 of the present embodiment is described in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2012-2699) in that the movement of the specimen (or table 1240) during the test is all numerically controlled. It is completely different from the conventional sled test equipment. Since all movements during the test are controlled, it is possible to easily apply shocks with various acceleration waveforms to the specimen.

In a conventional sled testing apparatus such as that described in Patent Document 1, the sled runs freely because the movement of the sled after the impact cannot be controlled. Therefore, a long running path is required. On the other hand, the collision simulation test apparatus 1000 of the present embodiment stops the sled immediately after applying the impact with an appropriate acceleration (that is, a moderate acceleration that does not substantially affect the test result). Therefore, the running path (rail 1231) can be shortened, and the installation space of the device can be greatly reduced. For example, the length of rail 1231 in this embodiment is only 2m.

Further, in the conventional sled test apparatus as disclosed in Patent Document 1, it is necessary to perform the work of returning the running sled to its initial position after the test. In order to automatically perform this work, it is necessary to further provide a mechanism for returning the sled to its initial position. In addition, since the sled travels a long distance, the mechanism for returning the sled to the initial position is also large, and the process of returning the sled to the initial position also requires a certain amount of time. In addition, if a mechanism for returning the sled to its initial position by self-running is built into the sled, the mechanism for returning the sled to the initial position can be made smaller. . In contrast, the collision simulation test apparatus 1000 of the present embodiment can automatically return the table 1240 to the initial position by using a mechanism that applies an impact to the table 1240. There is no need to separately provide a dedicated mechanism for returning. Further, as described above, the distance that the table 1240 moves during the test is short, so the table 1240 can be returned to the initial position in a short period of time (for example, 1 to 2 seconds).

In addition, in a pressure accumulation type sled 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), so a fixed test interval is required. need to be vacated. On the other hand, the collision simulation test apparatus 1000 of the present embodiment does not require charging, so tests can be performed continuously without time intervals. Therefore, the test can be performed more efficiently.

In addition, super-high pressure hydraulic pressure is used in the accumulator type sled test apparatus. Therefore, when hydraulic pressure leakage occurs, there is a risk of injury to the operator due to the jetting high-pressure hydraulic oil. Also, since the sled travels long distances in an uncontrolled manner, there is a risk of injury to the worker by colliding with the traveling sled. On the other hand, the collision simulation test apparatus 1000 of the present embodiment does not use hydraulic pressure and does not run the sled in an uncontrolled state, so the test can be safely performed.

In addition, as shown in FIG. 2, four toothed belts 1120a to 1120d are arranged in a zigzag pattern while alternately shifting back and forth. With this configuration, each toothed belt 1120 can be driven by four pairs of drive modules 1320 and 1420 while keeping the axial distance L of the four toothed belts 1120 aligned.

(Second embodiment)
The collision simulation test apparatus 1000 of the first embodiment described above is a high-output type apparatus suitable for testing relatively heavy specimens or testing with higher acceleration, but the present invention will be described below. The collision simulation test device 2000 according to the second embodiment of is a medium-power device suitable for testing lighter specimens.

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

The collision simulation test device 2000 of the second embodiment uses two pairs of servo motors 2320M and 2420M, which are half the number of the first embodiment, to drive two toothed belts 2120a and 2120d. there is

In addition, the front drive section 1300 [rear drive section 1400] of the first embodiment described above includes four drive modules 1320a-d [1420a-d] each having one servo motor 1320M [1420M]. 12, the forward drive 2300 (rear drive 2400) of this embodiment comprises a single drive module 2320 [2420] with two servo motors 2320M [2420M]. For example, in this embodiment, a drive module 2320 [2420] configured by connecting two servo motors 2320M [2420M] is employed.

Specifically, the drive module 2320 [2420] comprises a single shaft 2370 [2470] rotatably supported by three bearings 2361, 2362 and 2363 [2461, 2462 and 2463], the shaft 2370 One servo motor 2320M [2420M] is connected to one end of [2470], and the other servo motor 2320M [2420M] is connected to the other end. That is, in this embodiment, a single shaft 2370 [2470] of 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 .

The drive module 2320 [2420] of this embodiment also provides two toothed belts with two first pulleys 2140a and 2140d [second pulleys 2160a and 2160d] mounted on a single shaft 2370 [2470]. 2120a and 2120d are driven. Thus, in drive module 2320 [2420], perfect synchronous control of the two toothed belts 2120a and 2120d is achieved.

In addition, in the first embodiment (FIG. 4), by arranging the drive modules 1320b and 1320c under the rail support portion 1222 of the frame 1220, a configuration is adopted in which the distance L between the axes of the belt mechanisms 1100a to 1100d is shortened. However, this configuration is not adopted in this embodiment. Therefore, as shown in FIGS. 13-14, the height of the rail support portion 2222 of the frame 2220 is reduced in this embodiment. Along with this, the height of the belt clamp 2180 (FIG. 13) is 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 with a low output. In addition, due to the reduction in the height of the belt clamp 2180, the moment of the force around the Y axis applied to the belt clamp 2180 (and the toothed belt 2120) during 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 crash simulation test device 3000 according to a third embodiment of the invention. The crash simulation test device 3000 of the present embodiment is a low-power device suitable for testing even lighter specimens than the crash simulation test device 2000 of the second embodiment.

In the collision simulation test device 3000 of the third embodiment, two drive modules 3420a and 3420d, which are one fourth of the first embodiment, are used to drive two toothed belts 3120a and 3120d, respectively. is adopted.

Collision simulation test apparatus 3000 includes only test section 3200 and rear drive section 3400 as mechanical sections, and does not include a front drive section. In this embodiment, a pair of pulley support portions 3350a and 3350d replace the front drive portion 1300 (specifically, the pulley support portions 1350 of each drive module 1320a and 1320d) of the first embodiment, and a pair of pulley support portions 3350a and 3350d are provided at the front end of the test portion 3200. provided in the department.

The pulley support portions 3350a and 3350d have the same configuration as the pulley support portion 1350 of the first embodiment except for the arrangement interval of the bearings and the length of the shaft 3370. As shown in FIG. A first pulley 3140a is attached to the shaft 3370 of the pulley support portion 3350a, and a first pulley 3140d is attached to the shaft 3370 of the pulley support portion 3350d. The toothed belt 3120a is wound around the first pulley 3140a of the pulley support portion 3350a and the second pulley 3160a of the rear driving portion 3400. As shown in FIG. Further, the toothed belt 3120d is wound around the first pulley 3140d of the pulley support portion 3350d and the second pulley 3160d of the rear driving portion 3400. As shown in FIG. A servomotor is not 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 (pulling force) of the belt. Also, in the impact test, it is necessary to apply a strong acceleration in the deceleration direction (rear) to the specimen. Although it is possible to arrange the drive section in front of the test section 3200 and the driven pulley behind the test section 3200, in this case, the side that is connected to the table 3240 after being folded back by the rear driven pulley The pulling length of the belt becomes long because the specimen is impacted by the pulling of the belt. Therefore, the reduction in drive accuracy due to the expansion and contraction of the belt increases. Therefore, arranging the drive unit behind the test unit 3200 as in this embodiment is advantageous in terms of test accuracy.

In the first embodiment described above, each toothed belt 1120 is wound around a pair of drive pulleys (first pulley 1140 and second pulley 1160) to combine the power of two servo motors 1320M and 1420M. , a configuration that gives a large power to the toothed belt 1120 is adopted. When it is desired to apply even greater power to the toothed belt 1120, one method is to increase the output of each servomotor. However, simply increasing the output of the servomotor by increasing the size (increasing the diameter) of the rotor increases the moment of inertia and makes it impossible to drive the rotor at high acceleration.

Elongating the rotor is effective in increasing the output of the servomotor while maintaining high acceleration performance. A low-inertia, high-output servomotor (unit) developed by the present inventor based on such a design concept will be described below. Instead of the servo motors in each of the above-described embodiments, servo motors (units) such as in fourth, fifth and sixth embodiments described later can also be used.

(Fourth embodiment)
Next, a crash simulation test device 4000 according to a fourth embodiment of the 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 motor units 4320M and 4420M, which will be described later, are provided instead of the servo motors 1320M and 1420M of the first embodiment. 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 invention. The servo motor unit 4320M is formed by connecting two servo motors 4320MA and 4320MB in series.

The servomotor 4320MB has the same configuration as the servomotors 1320M and 1420M of the first embodiment. The servomotor 4320MA is a two-axis servomotor in which both ends of a shaft 4320A2 protrude outward to form two connecting shafts (a first shaft 4320A2a and a second shaft 4320A2b). The servomotor 4320MA has the same configuration as the servomotor 4320MB except that it has a second shaft 4320A2b and does not have a rotary encoder 4327, which will be described later. A first shaft 4320A2a of the servo motor 4320MA serves as a single output shaft 4322 of the servo motor unit 4320M.

In the following description of the servo motor unit 4320M, the side where the output shaft 4322 protrudes (the right side in FIG. 16) is called the load side, and the opposite side is called the anti-load side. The 2-axis servomotor 4320MA and the servomotor 4320MB each generate a maximum torque of 350 N・m, and the moment of inertia of the rotating part is suppressed to 10 ⁻² kg・m ² or less, and the rated output is over 37 kW. It is a low inertia servomotor.

The servomotor 4320MB includes a tubular 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. A pair of screw holes 4320B3t and 4320B4t are provided in 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 passes through the first bracket 4320B3 and protrudes outside the motor case to form an output shaft 4320B2a. On the other hand, a rotary encoder 4327 that detects rotational displacement of the shaft 4320B2 is attached to the mounting seat surface (left side surface in FIG. 16) of the second bracket 4320B4. The other end 4320B2b of the shaft 4320B2 is connected to the rotary encoder 4327 through the second bracket 4320B4.

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. A first bracket 4320B3 of the servomotor 4320MB and a second bracket 4320A4 of the two-axis servomotor 4320MA are connected with a predetermined gap by a connecting flange 4320D.

The connecting flange 4320D has a cylindrical trunk portion 4320D1 and two flange portions 4320D2 extending radially outward from both ends in the axial direction of the trunk portion 4320D1. Each flange portion 4320D2 is provided with through holes for fixing bolts at positions corresponding to the screw holes provided in the mounting seat surfaces of the first bracket 4320B3 and the second bracket 4320A4. It is bolted to bracket 4320A4.

As mentioned above, it is effective to make the rotor long and thin in order to increase the output of the motor while maintaining high acceleration performance. Insufficient deformation and vibration of the shaft, such as arcuate warping, become conspicuous, and the performance of the motor deteriorates. Therefore, in the conventional structure 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 servomotor unit 4320M of the present embodiment, a slender rotor is realized by a simple configuration in which the shafts of two servomotors are connected by a shaft coupling, without newly designing a dedicated rotor. In addition, the simple structure of connecting the main bodies of the two servo motors by the connecting flange maintains the distance between the shafts supported by the bearings. As a result, even if the rotor is elongated, it is supported with high rigidity and can operate stably. As a result, it is possible to generate large torque that fluctuates at high frequencies, which was not possible with conventional servo motors. It is possible. The servo motor unit 4320M alone (no load state) can be driven at an angular acceleration of 30000 rad/s2 or ^more .

(Fifth embodiment)
Next, a crash simulation test device 5000 according to a fifth embodiment of the present invention will be described. The collision simulation test apparatus 5000 differs from the collision simulation test apparatus 1000 of the first embodiment in that servo motors 5320M and 5420M, which will be 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, redundant description of the servomotor 5420M will be omitted.

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

In this embodiment, the shaft (rotor) and main body (stator) can be individually designed, so that the overall design of the servo motor 5320M can be optimized to realize a higher performance motor. be possible.

Note that the number of bearings and coils is not limited to the configuration shown in FIG. For example, two or more bearings and bearing support walls may be provided midway along the length of the body frame. Moreover, it is desirable that the bearings be provided at approximately equal intervals in the length direction of the body frame. In that case, cores and coils may be provided between adjacent bearings, respectively.

(Sixth embodiment)
Next, a crash 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 motor units 6320M and 6420M, which will be described later, are provided instead of the servo motors 1320M and 1420M of the first embodiment. The servo motor units 6320M and 6420M have the same configuration.

FIG. 18 is a plan view of a crash simulation test device 6000 according to the sixth embodiment of the invention. The servo motor unit 6320M [6420M] comprises two servo motors 6320MA and 6320MB [6420MA and 6420MB] connected in series. The servomotors 6320MA and 6420MA have the same configuration as the servomotors 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 outward to form two axes (first axis 6320A2a [6420A2a] and second axis 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 a second shaft 6320A2b [6420A2b] and they do not have a rotary encoder 1327 (FIG. 3). It is. The first shaft 6320A2a [6420A2a] of the servo motor 6320MA [6420MA] becomes the single output shaft 6322 [6422] of the servo motor unit 6320M [6420M].

The servo motor 6320MA [6420MA], which is a two-axis servo motor, has a first bracket 6323A [6423A] and a second bracket 6324A [6424A] attached to the base plate via a first motor support portion 6331 [6431], both of which have high rigidity. It is fixed at 6320D [6420D]. Base plate 6320D [6420D] is fixed to base block 6310 [6410].

In addition, the servo motor 6320MB [6420MB] is connected to the first bracket 6323B [6423B] via the first motor support portion 6331 [6431] and the second bracket 6324B [6424B] via the second motor support portion (not shown). are fixed to base plates 6320D [6420D], respectively.

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

Also, the output shaft 6320B2 [6420B2] of the servo motor 6320MB [6420MB] and the second shaft 6320A2b [6420A2b] of the servo motor 6320MA [6420MA] are connected by a shaft coupling 6320C [6420C].

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

(Seventh embodiment)
Next, a crash 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 of the crash simulation test device 7000, respectively. 21 and 22 are side views of the crash simulation test device 7000. FIG.

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 test object by the front drive section and the rear drive section, and the generated shock waveform is applied to the table on which the test article is mounted. is configured to be transmitted by a belt mechanism to the On the other hand, the collision simulation test apparatus 7000 of the present embodiment causes the table 7240, which is freely run at a predetermined speed, to collide with an impact generating section 7900, which will be described later. It is configured to deliver a wavy shock. In other words, the crash simulation test apparatus 7000 of this embodiment is configured to perform a conventional crash-type impact test.

Similar to the collision simulation test apparatus 2000 of the second embodiment, the collision simulation test apparatus 7000 of this embodiment includes a table 7240, a pair of linear guides 7230 supporting the table 7240 so as to be able to travel in the X-axis direction, and the table 7240 and a pair of belt mechanisms 7100a and 7100d for transmitting the power generated by the front driving section 7300 and the rear driving section 7400.

Further, the collision simulation test apparatus 7000 of this 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 has a rail 7231 and three carriages 7232 capable of running on the rail 7231 . Carriages 7232 include two carriages 7232 a attached to the bottom surface of table 7240 and one carriage 7232 b attached to the bottom surface of pusher 7250 . That is, a pair of linear guides 7230 support a table 7240 and a pusher 7250 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 clamps 7180 . That is, the pusher 7250 is driven by a pair of belt mechanisms 7100a and 7100d. The table 7240 of this embodiment is not connected to the belt mechanisms 7100a and 7100d, and is driven via pushers 7250 connected to the belt mechanisms 7100a and 7100d.

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

The shock generating portion 7900 includes a fixed portion 7920 fixed on the base block 7310, a shock portion 7940 arranged on the fixed portion 7920, and a buffer portion 7950 that absorbs the shock between the fixed portion 7920 and the shock portion 7940. It has

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

The buffer section 7950 includes a pair of movable frames 7951 attached to the impact section 7940, two pairs of arms 7953 and a pair of guide rails 7955 attached to the fixed section 7920, four coil springs 7954 and coil holding bars 7956. I have. Although the coil spring 7954 of this embodiment is a compression spring, a tension spring may be used. Also, instead of the coil spring 7954, other types of springs such as leaf springs and disc springs 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 7251 a placed on the upper surface of the fixed portion 7920 and four ribs 7951 b connecting the bottom plate 7251 a and the side surfaces 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 oriented in the X-axis direction so as to sandwich the impact portion 7940 together with the pair of movable frames 7951 (specifically, the bottom plate 7251a) from both sides in the Y-axis direction. mounted on the top. The pair of guide rails 7955 limits the movable direction of the impact portion 7940 to only the X-axis direction.

In this embodiment, the impact portion 7940 is slidably guided by the slide plate and guide rail 7955, but instead of the slide plate and guide rail 7955, a linear guide having rolling elements may be used. A configuration in which the impact portion 7940 is rolled and guided may be employed.

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.

A coil spring 7954 is arranged between each arm 7953 and the adjacent movable frame 7951 . Each coil spring 7954 has a preload that is adjusted to produce a predetermined waveform of impact. In addition, by sandwiching the movable frame 7951 with a pair of coil springs 7954 from both sides in the movable direction, the coil springs 7954 quickly return the movable frame 7951 to the initial position even if the movable frame 7951 is displaced. Also, the damper 7950 may be provided with a damper arranged in series or in parallel with the coil spring 7954 .

An impact portion 7940 of the impact generating portion 7900 has a projecting portion 7942 projecting toward the table 7240 (negative direction of the X axis) at the central portion in the Y-axis direction facing the table 7240 . A collision post 7944 that protrudes toward the table 7240 is attached to the tip of the projecting portion 7942 .

The table 7240 also includes a main body 7242 and an impact post 7244 projecting from the front central portion of the main body 7242 .

The impact column 7244 and the impact column 7944 of this embodiment are rigid bodies integrally formed of a hard material such as steel, but the impact column 7244 and/or 7944 may be shock absorbers having dampers and/or springs. . It should be noted that if the impingement posts 7244 and/or 7944 are shock absorbers that include both dampers and springs, the dampers and springs may be connected in series or in parallel.

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

When pusher 7250 decelerates, table 7240 moves away from pusher 7250 and travels freely on rail 7231 at a predetermined speed. Before long, as shown in FIG. 22, the collision column 7244 of the table 7240 collides with the collision column 7944 of the impact section 7940, and the impact caused by this collision is applied to the test piece attached to the table 7240. The magnitude and waveform of the impact applied 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 by providing a damper and/or a spring in the impact post 7244 and/or 7944 as a buffer device, it is possible to generate various shock waveforms. Furthermore, by providing a plurality of springs and dampers having different characteristics in the shock generating portion 7900 and changing the combination and connection relationship of these springs and dampers, it is possible to generate more diverse shock waveforms.

After testing, pusher 7250 is returned to its initial position by driving forward drive 7300 and rearward drive 7400 in opposite directions. The table 7240 is manually returned to its initial position. Also, 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 also be returned to the initial position. 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, and the table 7240 may be pushed back to the initial position by a pusher attached to the belt, for example.

Belt clamp 7180 is removably attached to pusher 7250 by bolts. In addition, a plurality of screw holes are provided on the bottom surface of the table 7240 so that the four belt clamps 7180 can be detachably attached to the table 7240 with 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 belts 7120 of the belt mechanisms 7100a and 7100d, the same as the collision simulation test device 2000 of the second embodiment In addition, it is possible to conduct a test in which the shock waveforms generated by the forward drive section 7300 and the rear drive section 7400 are directly applied to the table 7240 by the pair of belt mechanisms 7100a and 7100d.

The foregoing is a description of exemplary embodiments of the present invention. The embodiments of the present invention are not limited to those described above, and various modifications are possible within the scope of the technical ideas expressed by the claims. For example, the embodiments of the present application also include configurations in which configurations such as embodiments exemplified in this specification and/or configurations such as embodiments that are obvious to those skilled in the art from the descriptions in this specification are combined as appropriate. .

Although the shaft of the servomotor is directly connected to the shaft of the pulley supporter in each of the above embodiments, the servomotor and the shaft of the pulley supporter may be connected via a reduction gear. Using a speed reducer allows testing of specimens with greater weight (inertia). In addition, since it becomes possible to use a servomotor with a lower capacity, it becomes possible to reduce the size, weight, and cost of the device.

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

Although the acceleration of the table is controlled in each of the above embodiments, the present invention is not limited to this configuration. For example, the acceleration (impact) at a predetermined location of a test object (for example, a sheet attached to a table, a dummy placed on a sheet, etc.) may be controlled.

In each of the above embodiments, a linear guide composed of 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, instead of or in addition to the linear guide, a rolling guide mechanism using rolling elements such as ball splines and linear bushes may be used.

In each of the above embodiments, balls are used as the rolling elements of the linear motion guide mechanism (linear guide), but the present invention is not limited to this configuration. For example, rollers may be used as rolling elements.

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, other types of ceramic materials such as silicon carbide or zirconia may be used, and stainless steel may be used.

In each of the embodiments described above, 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 supporting the table 1240 is improved. The number of linear guides 23 to be used is determined according to the weight of the specimen and required test accuracy.

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

Although the toothed belt 1120 is an endless belt in each of the above embodiments, the present invention is not limited to this configuration. Since the toothed belt 1120 is fixed to the table 1240 by belt clamps 18 at two points separated in the longitudinal direction (driving direction), an open-ended belt can also be used.

Although the two belt clamps 18 for fixing one toothed belt 1120 are separately formed in each of the above embodiments, they may be formed integrally.

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

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

In the above-described embodiment, each of the attachment portion 1221, the rail support portion 1222, and the connection portion 1223 of the frame 1220 is a prismatic structural member, but the present invention is not limited to this configuration. The mounting portion 1221 may have other shapes as long as it has a flat surface on its lower surface for installation on the base block 1210 . The rail support portion 1222 may have another shape as long as it has a flat surface for attaching the rail 1231 on its upper surface. Also, the connecting portion 1223 may have another shape as long as it connects the mounting portion 1221 and the rail support portion 1222 with sufficient strength.

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

A collision simulation test apparatus according to an embodiment of the present invention comprises a table on which a specimen is attached, and a toothed belt for driving the table in a driving direction, the toothed belt having a carbon core wire. .

The crash simulation test apparatus described above includes a pair of toothed pulleys around which the toothed belt is wound, and a belt clamp for releasably fixing the toothed belt to the table, wherein the toothed belt extends in the longitudinal direction. It may 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 jumping due to the toothed belt being shaken by the load of the belt clamp is suppressed, and the drive control of the table is improved.

In the crash simulation test device, the toothed belt may be fixed at at least one fixing position so that the effective length of the toothed belt can be adjusted.

This configuration facilitates adjustment of the effective length of the toothed belt.

The crash simulation test apparatus may have a plurality of toothed belts arranged in parallel, and the table may be driven by the plurality of toothed belts.

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

In the crash simulation test device described above, the plurality of toothed belts may have the same effective length.

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

In the crash simulation test apparatus described above, at least one of the pair of toothed pulleys may be a drive pulley, and a drive module for driving the drive pulley may be provided.

In the crash simulation test device described above, the drive module may include an electric motor.

According to this configuration, since hydraulic pressure is not required, there is no need to install hydraulic pressure supply equipment. Therefore, a large installation space is not required, and maintenance and burden of hydraulic supply equipment are not required. In addition, the surrounding environment is not contaminated with hydraulic oil, and testing can be performed in a clean and safe environment.

In the crash simulation test device described above, the electric motor may be a servomotor.

In the crash simulation test device described above, the moment of inertia of the electric motor may be 0.02 kg·m ² or less.

According to this configuration, it is possible to generate a large acceleration.

In the crash simulation test device described above, the moment of inertia of the electric motor may be 0.01 kg·m ² or less.

In the crash simulation test device described above, the drive module may have a reduction gear that reduces the output of the electric motor.

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

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

In the crash simulation test device described above, 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, respectively.

With this configuration, the shaft can be driven with greater power. Also, when two electric motors are used, sharing the shaft makes it possible to reduce the number of bearings, thereby making the apparatus compact.

The crash simulation test apparatus may include a plurality of drive modules that respectively drive the plurality of toothed belts, and two of the plurality of drive modules may be arranged side by side in the axial direction of the drive pulley.

With this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path can be reduced, and driving with greater acceleration is possible.

In the collision simulation test device, a plurality of drive modules for driving the plurality of toothed belts are provided, and two of the plurality of drive modules are arranged side by side in the driving direction with the plurality of toothed belts interposed therebetween. may be

With this configuration, the power transmission path for driving the drive pulley can be shortened, the moment of inertia of the power transmission path can be reduced, and driving with greater acceleration is possible.

In the above crash simulator, the drive module comprises at least two toothed pulleys respectively driving at least two of the plurality of toothed belts, and the at least two toothed pulleys are mounted on the shaft. may be configured.

According to this configuration, since at least two toothed belts are driven by a single shaft, it is possible to completely synchronize the driving of the at least two toothed belts, enabling higher precision driving. become.

In the above crash simulation test apparatus, both of the pair of toothed pulleys may be drive pulleys.

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

In the crash simulation test device described above, 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 crash simulation test device, the one or more drive modules are provided with a plurality of electric motors, and a controller for synchronously controlling the plurality of electric motors. It is good also as a structure controlled.

This configuration enables the table to be driven with sufficiently high accuracy.

In the collision simulation test apparatus, a pusher for pushing the table in the driving direction, a linear guide for supporting the table and the pusher so as to be movable in the driving direction, and an impact generator for generating an impact on the test piece by colliding with the table. , wherein the toothed belt is securable to each of the table and the pusher, releasably securable to one of the table and the pusher, and when the toothed belt is securable to the table, the drive module When an impact is generated on the specimen and the impact is transmitted to the table by the toothed belt, and the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating part, A configuration may be adopted in which an impact is applied to the specimen.

In the collision simulation test apparatus, the impact generating section includes a fixed section, an impact section arranged at a position where the table can collide, and a cushioning section that absorbs the impact between the fixed section and the impact section. It may be configured as follows.

In the above crash simulation test device, the shock absorbing portion is attached to the movable frame attached to the impact portion; and a spring sandwiched between each arm.

In the crash simulation test apparatus described above, the table includes a first impact column projecting toward the impact generating section, the impact section of the impact generating section includes a second impact column projecting toward the first impact column, At least one of the first impact column and the second impact column may be a damping device including at least one of a damper and a spring.

In the above collision simulation test apparatus, the linear guide includes a rail extending in the driving direction and a carriage running on the rail via rolling elements, the carriage comprising a first carriage attached to a table, and a pusher. and a second carriage attached to the .

In the crash simulation test device described above, the toothed belt may have a main body made of elastomer, and the elastomer may include either hard polyurethane or hydrogenated acrylonitrile-butadiene rubber.

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

In the collision simulation test apparatus, a configuration comprising a linear guide for guiding the table in the driving direction, the linear guide comprising a rail extending in the driving direction, and a carriage traveling on the rail via rolling elements good too.

According to this configuration, unnecessary movement of the table in directions other than the driving direction is suppressed, so that the table can be driven with higher accuracy. In addition, the adoption of the low-loss rolling guide makes it possible to drive the table with less power, and since seizing of the guide means is less likely to occur, the table can be driven with greater acceleration.

In the crash simulation test device described above, the rolling elements may be made of a ceramic material.

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

According to this configuration, the rolling elements made of a ceramic material are lighter, have higher heat resistance, and are more precise than those made of general steel. Therefore, seizure is less likely to occur, and the table can be driven with greater acceleration.

In the device described in Patent Document 1, the sled pushed out by the piston travels a long distance due to inertia, so the overall length of the device is extremely long, requiring a large installation space. According to one embodiment of the present invention, a compact and highly accurate crash simulation test device is realized.

1000... Collision simulation test device (first embodiment)
DESCRIPTION OF SYMBOLS 1100... Belt mechanism 1200... Test part 1300... Forward drive part 1400... Rear drive part 1500... Control part 2000... Collision simulation test apparatus (2nd Embodiment)
3000 ... Collision simulation test device (third embodiment)
4000 ... Collision simulation test device (fourth embodiment)
5000 ... Collision simulation test device (fifth embodiment)
6000 ... Collision simulation test device (sixth embodiment)
7000 ... Collision simulation test device (seventh embodiment)

Claims (23)

A table movable in a predetermined direction on which the specimen is attached;
a drive module capable of generating power to drive the table;
a toothed belt capable of transmitting the power;
a controller capable of controlling the drive module;
a pusher for pushing the table in the predetermined direction;
a linear guide that supports the table and the pusher so as to be movable in the predetermined direction;
an impact generation unit that generates impact on the test piece by colliding with the table;
with
The toothed belt is
releasably fixable to each of the table and the pusher;
fixed to one of the table and the pusher;
when the toothed belt is fixed to the table, the drive module generates an impact on the specimen, and the impact is transmitted to the table by the toothed belt;
When the toothed belt is fixed to the pusher, the table pushed out by the pusher collides with the impact generating part, thereby generating an impact on the specimen.
test equipment. wherein the controller is capable of controlling the drive module to generate an impact similar to that of a car crash;
The test device according to claim 1. wherein the drive module comprises an electric motor;
The testing device according to claim 1 or 2. The electric motor
Rated output is 7 kW or more,
moment of inertia is 0.02 kg ^m2 or less,
the control unit is capable of controlling the drive module to generate an impact to be applied to the specimen;
an acceleration shock in excess of 20 G can be generated by the drive module and transmitted to the table by the toothed belt;
The test device according to claim 3. The moment of inertia of the electric motor is 0.01 kg·m ² or less,
The testing device according to claim 3 or 4. one or more of said drive modules collectively comprising a plurality of said electric motors;
wherein the control unit is configured to be capable of synchronously controlling the plurality of electric motors using optical fiber communication;
The test device according to any one of claims 3 to 5. 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 any one of claims 3 to 6. A plurality of the toothed belts arranged parallel to each other,
an impact can be transmitted to the table by the plurality of toothed belts;
The test device according to claim 7. The effective lengths of the plurality of toothed belts are the same,
The testing device according to claim 8. a plurality of said drive modules respectively driving said 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;
10. The testing device according to claim 8 or 9. a plurality of said drive modules respectively driving said plurality of toothed belts;
at least two of the plurality of drive modules are arranged side by side in the predetermined direction;
10. The testing device according to claim 8 or 9. The drive module is
a shaft driven by the electric motor;
a bearing that rotatably supports the shaft;
two said drive pulleys respectively driving two of said plurality of toothed belts;
with
wherein the two drive pulleys are attached to one shaft;
12. A testing device as claimed in any one of claims 8 to 11. The drive module is
a shaft driven by the electric motor;
a bearing that rotatably supports the shaft;
with
wherein the drive pulley is attached to the shaft;
12. A testing device as claimed in any one of claims 7 to 11. said drive module comprising a pair of said electric motors;
Both ends of the shaft are respectively connected to the pair of electric motors,
14. A testing device according to claim 12 or 13. comprising a plurality of said drive modules;
Both of the pair of toothed pulleys are the drive pulleys,
The plurality of drive modules are
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,
15. A testing device as claimed in any one of claims 7 to 14. a belt clamp releasably securing the toothed belt to the table;
The toothed belt is
fixed to the table at two longitudinally separated fixed positions;
fixed in at least one fixed position so that the effective length of the toothed belt can be adjusted;
16. A testing device as claimed in any one of claims 1 to 15. The impact generating part is
a fixed part;
an impact part arranged at a position where the table can collide;
a cushioning portion that reduces impact between the fixed portion and the impact portion;
17. A testing device as claimed in any one of claims 1 to 16. The buffer part is
a movable frame attached to the impact portion;
a pair of arms arranged to sandwich the movable frame in the predetermined direction and attached to the fixed portion;
a spring sandwiched between the movable frame and each arm,
18. A testing device according to claim 17. the table includes a first impact column protruding toward the impact generating portion;
wherein the impact generating portion comprises a second impact column protruding toward the first impact column;
at least one of the first impingement post and the second impingement post is a shock absorber comprising at least one of a damper and a spring;
19. A testing device as claimed in any one of claims 1 to 18. The linear guide is
a rail extending in the predetermined direction;
a carriage that can travel on the rail via rolling elements;
with
The carriage is
a first carriage attached to the table;
a second carriage attached to the pusher;
20. A testing device according to any one of claims 1-19. wherein the rolling elements are made of a ceramic material containing any one of silicon nitride, silicon carbide and zirconia;
21. A testing device according to claim 20. wherein the toothed belt comprises a carbon core wire,
22. A testing device as claimed in any one of claims 1 to 21. The toothed belt comprises a main body made of elastomer,
wherein the elastomer comprises either rigid polyurethane or hydrogenated acrylonitrile butadiene rubber;
23. A testing device as claimed in any one of claims 1 to 22.

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