JP3103096B2 - Balance control device - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial application field) The present invention relates to a balance control device for a rotating body that supports a device under test such as a communication satellite.

(Prior Art) In order to perform a heat resistance and a vacuum test by changing the attitude of a device under test such as a communication satellite, the whole is U-shaped, and a rotating shaft having both arms is supported by a bearing via a bearing. The test object is supported at the approximate center of the rotating body rotatably supported at
2. Description of the Related Art A testing apparatus has been used in which a posture of a test object is changed by rotating a rotating body at an appropriate angle.

By the way, in such a test apparatus, when changing the posture of the DUT, it is necessary to balance the rotating body around the rotating shaft for the purpose of reducing the torque of the rotating shaft and preventing vibration.

Conventionally, as a method of balancing around the rotation axis of the rotating body, there is a balance method, a rotating method, a method of moving a moving balance weight provided in both arms of the rotating body, and a method of balancing. Manual work was required for the balance adjustment work, and judgment on whether or not the balance was completely made often depended on the experience of the worker.

(Problems to be solved by the invention) However, in such a rotating body balance control means,
In addition to the time required for the balance adjustment work, the diameter of the rotating shaft of the rotating body is reduced for the purpose of reducing the weight of the entire test apparatus. Mounting could damage the rotating shaft and lead to a major accident. In addition, when the balance weight is heavy or must be mounted at a high place, the operation itself is very dangerous.

The present invention has been made in view of the above circumstances,
It is an object of the present invention to provide a balance control device that can automatically and quickly perform a balance adjustment of a rotating body without danger.

[Configuration of the Invention] (Means for Solving the Problems) In order to achieve the above object, in the first invention, arms are provided on both sides of a support portion for supporting a test object at a central portion. A rotator that is symmetrically provided, and is rotatably supported by a stationary object at a substantially central portion of each of the two arms, and the test object is positioned on the rotation axis; and both arms of the rotator A moving balance weight provided on the distal end side from the rotation shaft of each part and movable along the longitudinal direction of the arm, a weight driving motor for moving the moving balance weight, and a shaft connected to the shaft of the rotating body. A shaft rotation motor mechanism for rotating the rotating body, a torque intervening in a shaft portion between the shaft rotating motor mechanism and one arm of the rotating body, and a torque or The drive torque of the shaft rotation motor mechanism A torque detection means for detecting a rotational angle detecting means for detecting the rotation angle of the rotating body,
Calculating means for obtaining an unbalance amount around the axis of the rotating body based on the detection signals detected by the torque detecting means and the rotation angle detecting means; and the weight based on the unbalance amount obtained by the calculating means. By controlling the driving motor to move the moving balance weight of each of the two arms of the rotating body, the rotating body is rotated by the shaft rotating motor mechanism while the test object is supported by the supporting portion. Control means for adjusting the balance of the rotating body at the time, the control means controls the shaft rotating motor mechanism to gradually increase the rotating angle for rotating the rotating body, and During the rotation of the body, the moving balance weights of the two arms of the rotating body are unbalanced around the axis of the rotating body so that the detection output value of the torque detecting means is minimized. Wherein the moving direction.

Further, in the second invention, a support portion for supporting the test object is provided at the center portion, and at least one of the arm portions provided symmetrically on both sides thereof is rotatably supported by a stationary object while being rotatable. A rotating body provided with a moving balance weight on each of the arms, a shaft rotating motor connected to a shaft of the rotating body, a weight driving motor for moving the moving balance weight, and a reference for the rotating body. Time measurement for measuring the forward path time, which is the time required for the rotation from the angle to the specified rotation angle, and the return path time, which is the time required for the rotation from the specified rotation angle to the reference angle, which is the reverse time. Means, and control means for comparing the forward path time and the return path time measured by the time measuring means, and controlling the weight driving motor so that the two become equal to each other to adjust the balance of the rotating body. It is intended.

(Operation) Therefore, in the balance control device according to the first aspect of the present invention, the rotating body is provided with both arms symmetrically provided with the test object interposed therebetween, and the test object is positioned on the rotation axis. It is configured to support, and since the two arms of the rotating body are each supported at two points by a stationary object, even if the test object is a large structure, the balance can be controlled and ensured. Safety can be ensured, and the rotation angle for rotating the rotating body is gradually increased by controlling the shaft rotation motor mechanism, and during rotation of the rotating body, the torque detecting means By rotating the moving balance weights of both arms of the rotating body in a direction in which the unbalance around the axis of the rotating body is canceled so that the detection output value is minimized, the arm is rotated by the shaft rotating motor mechanism. Accurate balance of the whole rotating body at the time Is adjusted.

In the balance control device according to the second aspect of the present invention, when the rotating body supporting the device under test is appropriately rotated by the shaft rotating motor, the rotation specified by the reference angle of the rotating body measured by the time measuring means is performed. The forward path time, which is the time required for the rotation to the moving angle, and the return time, which is the time required for the rotation from the specified rotation angle to the reference angle, which is the reverse of the forward time, are compared. Since the weight driving motors are controlled until they become equal, the moving balance weight moves in a direction in which the imbalance around the axis of the rotating body is eliminated, and the balance of the entire rotating body is adjusted.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a configuration example of a balance control device according to the present invention. In FIG. 1, reference numeral 1 denotes a support column vertically mounted on the front and back of a bogie main body 2 moving on a base, 3 has a support portion 3a for supporting a test object 4 at a central portion, and both sides thereof The arm 3b is provided symmetrically, and the whole is a substantially U-shaped rotator.
Rotation shafts 5a and 5b attached to 3b are rotatably supported by bearings 6a and 6b fixed to the support column 1. In addition, as shown in FIG. 1, the DUT 4 is supported by the support 3 a so as to be located inside the rotation axis of the rotating body 3. A shaft rotation motor 7 is mounted on the support column 1 on the bearing 6a side, and the rotation shaft of the shaft rotation motor 7 is connected to the rotation shaft 5a of the rotating body 3 via a reduction gear 8. Further, moving balance weights 9a and 9b are provided in the both arms 3b of the rotating body 3, and the moving balance weights 9a and 9b are moved by weight driving motors 10a and 10b attached to the arms 3b to move studs and the like. The mechanisms 11a and 11b are rotatable up and down by rotating them.

On the other hand, reference numeral 12 denotes a torque detector attached to a rotation transmission shaft between the speed reducer 8 and the bearing 6a, and the torque detector 12 detects a torque around the shaft acting on the rotating shaft 5a.
Reference numeral 13 denotes a rotation angle detector attached to the rotation shaft 5b supported by the bearing 6b. The rotation angle detector 13 detects the rotation angle of the rotating body 3. Further, a balance control unit 14 receives a torque detection signal of the torque detector 12 and a rotation angle detection signal of the rotation angle detector 13 and controls the shaft rotation motor 7 and the weight driving motors 10a and 10b. The balance controller 14 has an arithmetic function, a determination function, a control function, a display function, a timer, and the like.

In addition, the structure of the present embodiment has a length of 12 m × a width of 5 m × a height of 12 m.
It is a large structure.

Next, the operation of the balance control device configured as described above will be described.

Now, it is assumed that a test object 4 having an unknown weight and center of gravity is supported by a support portion 3a provided at the center of the rotating body 3. In this state, when a drive command is input to the shaft rotation motor 7 from the balance controller 14, the rotation of the shaft rotation motor 7 is transmitted to the rotation shaft 5a via the speed reducer 8, and the rotation 3 rotates. At this time, the detection value detected by the rotation angle detector 13 is read by the balance controller 14, and the rotating body 3 rotates until the rotation angle 傾 is tilted by several degrees (about 5 °). Further, the torque detector 12 detects a rotational axis distortion output V corresponding to the unbalance amount generated by the device under test 4, and the detected value is taken into the balance controller 14.
In the balance controller 14, the unbalance amount X generated by the DUT 4 based on the detection value of the torque detector 12 is expressed as X = kV
It is determined by the arithmetic expression of sinΘ, and it is determined from the output value whether the imbalance of the rotating body 3 is above or below the axis center. Therefore, since the balance controller 14 issues a drive command to the weight driving motors 10a, 10b, the moving balance weights 9a, 9b move in the direction in which the rotating body 3 is balanced by the moving mechanisms 11a, 11b. The output value of the torque detector 12 gradually decreases. In this case, if the rotation angle of the rotating body 3 is small, the balance accuracy is poor,
The moving balance weights 9a and 9b that gradually increase the rotation angle of the rotating body 3 and minimize the output value of the torque detector 12.
And decide the position.

This series of operations is automatically performed by a command and judgment from the balance controller 14, and when the rotating body 3 is completely balanced, the end lamp is turned on.

FIG. 2 shows a flowchart of such balance control. In step 21, the DUT 4 is supported by the rotating body 3, and in step 22, the rotating shaft 6a is driven. In step 23, the detected value of the rotation angle Θ is obtained from the rotation angle detector 13 at this time, and in step 24, the detected value of the rotational axis distortion output V is obtained from the torque detector 12, and based on these detected values in step 25. Then, the unbalance amount X of the rotating body 3 is obtained, and the routine proceeds to step 26. In step 26, the unbalance amount X is compared with an allowable value A, and when X> A, the weight driving motors 10a, 10b
Is rotated to move the moving balance weights 9a and 9b in the vertical direction, and the balance adjustment is completed when X ≦ A.

As described above, according to the present embodiment, the balance controller 14 performs unbalance based on the rotation angle of the rotating body 3 detected by the rotation angle detector 13 and the torque detection value detected by the torque detector 12. The weight is determined, and the weight driving motors 10a and 10b are rotationally controlled to move the moving balance weights 9a and 9b in the vertical direction so that the unbalance amount is eliminated. Specimen 4
Since the balance adjustment of the rotating body 3 that supports the gears is automatically performed, the operator can perform the balance adjustment work quickly and stably with accuracy only by operating the switch for starting. Can be.

 Next, another embodiment of the present invention will be described.

In the above embodiment, the torque detector 12 is mounted on the rotation transmission shaft between the reduction gear 5 and the rotary shaft 5a. However, instead of the torque detector 12, the driving torque of the shaft rotation motor 7 is used. Even when the balance control is obtained from the value of the input current, the same balance control as described above can be performed.

In the above embodiment, the balance controller 14 calculates the unbalance amount based on the torque detection value of the torque detector 12 and the rotation angle detection value of the rotation angle detector 13 to rotate the weight driving motor. I tried to control the balance controller
14, the drive torque of the shaft rotation motor 7 is controlled to be constant, and the forward path time T1 and the return path time T2 when the rotating body 3 is reciprocated to a certain angle (for example, Θ = ± 10 degrees) are measured. By comparing the measurement times T1 and T2 with each other, the rotation control of the weight driving motor is performed so that T1 = T2, and the same balance control as described above can be performed.

FIG. 3 shows a flow chart for carrying out such balance control. In step 31, the DUT 4 is supported by the rotating body 3, and in step 32, the driving torque is controlled to be constant to rotate the rotating shaft 6a. Drive. In this case, the rotating body 3 is reciprocated to a certain angle (for example, Θ = ± 10 degrees), and the forward time T1 at that time is set at step 33 and the return time T2 is set at step 33.
Each measurement is made at 34 and the process proceeds to step 35. This step
At 35, these measurement times T1 and T2 are compared, and when T1 <T2, or T1> T2, the weight drive motors 10a, 10b are rotationally driven to move the moving balance weights 9a, 9b in the vertical direction, When T1 = T2, the balance adjustment is completed.

[Effects of the Invention] As described above, according to the present invention, the work of adjusting the balance of a rotating body is performed quantitatively, quickly, reliably, and safely with stable accuracy without relying on experience as in the related art. Can be provided.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a balance control device according to the present invention, FIG. 2 is a flowchart showing the operation of the embodiment, and FIG. 3 is a diagram showing another embodiment of the present invention. It is a figure showing a flow chart for explaining an operation. DESCRIPTION OF SYMBOLS 1 ... Support pillar, 2 ... Mobile stand, 3 ... Rotating body, 3a ... Support part, 3b ... Arm part, 4 ... DUT, 5a, 5b ... Rotating shaft, 6a, 6b ... Bearing, 7: shaft driving motor, 8: reduction gear, 9a, 9b ... moving balance weight, 10a, 10b ... weight driving motor, 11a, 11b ... moving mechanism, 12: torque detector, 13 ... rotation angle detector, 14 ... balance controller.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-162491 (JP, A) JP-A-3-245978 (JP, A) JP-A-61-252085 (JP, A) JP-A-61-26985 243399 (JP, A) JP-A-61-152389 (JP, A) JP-A-59-143893 (JP, A) JP-A-2-4778 (JP, U) JP-A-63-154182 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 3/12

Claims (2)

(57) [Claims] An arm is provided symmetrically on both sides of a support portion for supporting a test object at a central portion with the test object interposed therebetween. A rotating body which is rotatably supported and the test object is positioned on the rotating shaft, and which is provided on the tip side from the rotating shaft of each of both arms of the rotating body and moves along the longitudinal direction of the arm A possible moving balance weight, a weight driving motor for moving the moving balance weight, a shaft rotating motor mechanism connected to a shaft of the rotating body for rotating the rotating body, a shaft rotating motor mechanism, Torque detecting means interposed on a shaft between one of the arms of the rotating body and detecting torque acting around the axis of the rotating body or driving torque of the motor mechanism for rotating the shaft; Rotation angle detecting means for detecting a moving angle Calculating means for obtaining an unbalance amount around the axis of the rotating body based on the detection signals detected by the torque detecting means and the rotation angle detecting means; and calculating the unbalance amount based on the unbalance amount obtained by the calculating means. By controlling the weight driving motor to move the moving balance weight of each of the two arms of the rotating body, the rotating body is rotated by the shaft rotating motor mechanism while the test object is supported by the supporting portion. Control means for adjusting the balance of the rotating body when the rotating body, the control means controls the shaft rotation motor mechanism to gradually increase the rotation angle to rotate the rotating body, The moving balance weights of the two arms of the rotating body are adjusted so that the imbalance around the axis of the rotating body is eliminated so that the detection output value of the torque detecting means is minimized during the rotation of the rotating body. Balance control apparatus characterized by moving in the direction. 2. A support for supporting a test object at a central portion, and at least one of symmetrically provided arms on both sides thereof is rotatably supported on a stationary object and both arms are supported. A rotating body provided with a moving balance weight in the portion, a shaft rotating motor connected to a shaft portion of the rotating body,
A weight driving motor for moving the moving balance weight, and a forward time, which is a time required for rotation of the rotating body from a reference angle to a specified rotation angle, and a rotation angle specified reversely to the forward time. Time measuring means for measuring the return time, which is the time required for rotation to the reference angle,
Control means for comparing the forward path time and the return path time measured by the time measuring means, and controlling the weight driving motor so that the two become equal to each other to adjust the balance of the rotating body. Control device.